CN113319857B - Mechanical arm force and position hybrid control method and device, electronic equipment and storage medium - Google Patents
Mechanical arm force and position hybrid control method and device, electronic equipment and storage medium Download PDFInfo
- Publication number
- CN113319857B CN113319857B CN202110883830.3A CN202110883830A CN113319857B CN 113319857 B CN113319857 B CN 113319857B CN 202110883830 A CN202110883830 A CN 202110883830A CN 113319857 B CN113319857 B CN 113319857B
- Authority
- CN
- China
- Prior art keywords
- force
- mechanical arm
- virtual
- hybrid control
- spring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- 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
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
Abstract
The invention discloses a mechanical arm force and position hybrid control method, a device, electronic equipment and a storage medium, wherein the method comprises the following steps: calling a virtual component according to the position information and the speed information of the tail end of the mechanical arm to construct a mechanical arm model, and calculating a virtual spring force and a virtual damping force required by mechanical arm force-position hybrid control by using the mechanical arm model, wherein the virtual component comprises a spring and a damper; calculating required output control force according to the target contact force and the actual contact force at the tail end of the mechanical arm; calculating the moment required by the joint of the mechanical arm through a Jacobian matrix based on the virtual spring force, the virtual damping force and the output control force, and performing force-position hybrid control on the mechanical arm according to the moment required by the joint; the method is based on a mechanical arm model formed by virtual components including springs and dampers, simplifies the mechanical model of the existing mechanical arm, improves the operational efficiency of mechanical arm control, and is suitable for mechanical arm force and position hybrid control of all tandem robots.
Description
Technical Field
The application relates to the technical field of mechanical arm control, in particular to a mechanical arm force and position hybrid control method and device, electronic equipment and a storage medium.
Background
With the development of robotics and the popularization of industrial 4.0 concepts, the application of mechanical arms in the industrial field is gradually popularized. For some mechanized, high-repeatability and high-risk operations, a mechanical arm is generally adopted to replace manual operation, so that the production efficiency is improved, the cost is reduced, and production accidents are avoided.
The existing force control of a robot mechanical arm is generally performed by adopting a compliance control mode, and the compliance control mode is mainly divided into three modes, namely impedance control, admittance control and force-position hybrid control.
The controller is mainly equivalent to an impedance system in the control process of impedance control, the controller is used for inputting position output force, the robot is equivalent to an admittance system, the robot is used for inputting force output positions, and the impedance control requires that the controller can acquire position information and can control joint torque of the robot.
Admittance control is the reverse process of impedance control, the controller is equivalent to an admittance system for inputting a force output position, the robot is equivalent to an impedance system for inputting a force output position, and the admittance control requires that force information can be acquired (therefore, a force sensor is often required to be added at the tail end) and the joint position of the robot can be controlled.
Generally, many operations only require the mechanical arm to have a track control function, the two controls can well complete common flexible control in the operations, such as welding, stacking, spraying and the like, and the operations can be completed by using impedance control and admittance control. However, in many cases, it is necessary to simultaneously control force and position with high precision, for example, a mechanical arm performs polishing operation along a certain plane, at this time, it is necessary to perform force control in a vertical plane direction and position control in a tangential plane direction, which requires force and position hybrid control, that is, simultaneous control of tangential force and normal force is simultaneously achieved, but the existing force and position hybrid control method is complicated in modeling, difficult to apply, generally limited to a specific mechanical arm in a specific environment, and in control, a complicated mechanical arm model needs to be established for a specific structure of the mechanical arm to perform simulation calculation, which has the problems of complicated modeling, complicated force and position calculation, and insufficient versatility.
In view of the above problems, no effective technical solution exists at present.
Disclosure of Invention
An object of the embodiments of the present application is to provide a method and an apparatus for hybrid control of force and position of a robot arm, an electronic device, and a storage medium, which simplify a robot arm model, improve operation control efficiency, and expand an application range.
In a first aspect, the present application provides a mechanical arm force and position hybrid control method, for mechanical arm force and position hybrid control, the method includes the following steps:
s1, calling a virtual component according to the position information and the speed information of the tail end of the mechanical arm to construct a mechanical arm model, and calculating a virtual spring force and a virtual damping force required by mechanical arm force-position hybrid control by using the mechanical arm model, wherein the virtual component comprises a spring and a damper;
s2, calculating the required output control force according to the target contact force and the actual contact force at the tail end of the mechanical arm;
and S3, calculating the moment required by the joint of the mechanical arm through a Jacobian matrix based on the virtual spring force, the virtual damping force and the output control force, and performing force-position hybrid control on the mechanical arm according to the moment required by the joint.
The mechanical arm force and position hybrid control method of the embodiment of the application is characterized in that a mechanical arm model is formed on the basis of a virtual component comprising a spring and a damper, then acquiring a virtual spring force and a virtual damping force based on the position information and the speed information, acquiring an output control force based on the contact force of the tail end of the mechanical arm, calculating the moment required by the joint of the mechanical arm by combining the virtual spring force, the virtual damping force and the output control force through a Jacobi matrix to perform force-position hybrid control on the mechanical arm, the method simplifies the construction of the mechanical arm model, can select proper springs and dampers to match and model according to the characteristics of different mechanical arms, has the characteristics of wide applicability range, simple modeling, less calculated amount and wide applicability, effectively improves the operational efficiency of mechanical arm control, the hardware performance requirement of the computing equipment is reduced, and the method is suitable for mechanical arm force and position hybrid control of all tandem robots; the mechanical arm force and position hybrid control method does not need to introduce inertial data and the like needed by impedance control, admittance control and the like, only utilizes virtual spring force, virtual damping force and output control force to form a simple model, and the simple model can combine the virtual spring force, the virtual damping force and the output control force to realize hybrid control of force application and position, realize simultaneous control of tangential force and normal force, and finish mechanical arm operation needing force application such as polishing and the like; in addition, the virtual spring force and the virtual damping force are calculated and obtained based on the position information and the speed information respectively, complex data such as mass, inertia and acceleration are not needed to be introduced, and compared with the mass, the inertia and the acceleration, the position information and the speed information are data information which is easy to obtain in data measurement, so that a data source for force and position hybrid control can be simplified, a data source with higher precision can be obtained conveniently, and the calculation precision of the force and position hybrid control is improved.
The mechanical arm force and position hybrid control method is characterized in that the step S1 includes the following sub-steps:
s11, acquiring position information and speed information of the tail end of the mechanical arm, wherein the position information comprises an actual position and a target position, and the speed information comprises an actual speed and a target speed;
s12, selecting a spring and a damper virtual component to form a mechanical arm model based on the position information and the speed information of the tail end of the mechanical arm;
s13, acquiring the stiffness coefficient of the corresponding spring and the damping coefficient of the damper as the stiffness coefficient and the damping coefficient of the mechanical arm model;
and S14, calculating to obtain a virtual spring force according to the difference between the actual position and the target position of the tail end of the mechanical arm and the stiffness coefficient, and calculating to obtain a virtual damping force according to the difference between the actual speed and the target speed of the tail end of the mechanical arm and the damping coefficient.
In the method for hybrid control of force and position of the robot arm, in step S1, the VMC software calls the virtual components, and a robot arm model is formed based on the virtual components to perform hybrid control of force and position of the robot arm.
The mechanical arm force and position hybrid control method is characterized in that the step S3 includes the following sub-steps:
s31, calculating and acquiring a hybrid control force according to the virtual spring force, the virtual damping force and the output control force;
s32, calculating and acquiring the moment required by the corresponding joint of the mechanical arm according to the mixed control force and the Jacobian matrix;
and S33, integrating the torque required by each joint of the mechanical arm, and performing force position hybrid control on the whole mechanical arm.
The mechanical arm force and position hybrid control method is characterized in that the actual contact force is measured by a force sensor at the tail end of the mechanical arm.
The mechanical arm force and position hybrid control method is characterized in that when the target contact force is larger than the actual contact force, the output control force is larger than the target contact force.
In the mechanical arm force and position hybrid control method, in step S3, the required torque is a joint torque vector
It satisfies the formula:
In a second aspect, the present application further provides a mechanical arm force and position hybrid control device, for mechanical arm force and position hybrid control, including:
the virtual force calculation module is used for calling a virtual component according to the position information and the speed information of the tail end of the mechanical arm to construct a mechanical arm model, calculating a virtual spring force and a virtual damping force required by mechanical arm force-position hybrid control by using the mechanical arm model, and the virtual component comprises a spring and a damper;
the control force calculation module is used for calculating required output control force according to the target contact force and the actual contact force at the tail end of the mechanical arm;
the moment calculation module is used for calculating the moment required by the mechanical arm joint through a Jacobian matrix based on the virtual spring force, the virtual damping force and the output control force;
and the force position hybrid control module is used for carrying out force position hybrid control on the mechanical arm according to the torque required by the joint.
The utility model provides a mechanical arm power position hybrid control device of embodiment, constitute the arm model based on the virtual component including spring and attenuator through virtual force calculation module, and obtain virtual spring force and virtual damping force based on position information and speed information, obtain the output control power through control force calculation module based on the terminal contact force of arm, utilize moment calculation module combination virtual spring force, virtual damping force and output control power to calculate the required moment of arm joint through jacobian matrix and carry out power position hybrid control to the arm through power position hybrid control module application joint moment, the modeling is simple, the calculated amount is few, extensive applicability's characteristics, effectively improve the computational efficiency of arm control, and reduce the hardware performance requirement of arithmetic device, and be applicable to the arm power position hybrid control of all tandem type robots.
In a third aspect, the present application further provides an electronic device, comprising a processor and a memory, where the memory stores computer readable instructions, and the computer readable instructions, when executed by the processor, perform the steps of the method as provided in the first aspect.
In a fourth aspect, the present application also provides a storage medium having a computer program stored thereon, which when executed by a processor performs the steps of the method as provided in the first aspect above.
From the above, the embodiment of the application provides a mechanical arm force and position hybrid control method, a device, electronic equipment and a storage medium, wherein the method is based on a mechanical arm model formed by virtual components including springs and dampers, and calculates the torque required by a mechanical arm joint through a jacobian matrix by combining virtual force and output control force to perform force and position hybrid control on a mechanical arm, so that the mechanical model of the existing mechanical arm is effectively simplified, the operational efficiency of mechanical arm control is improved, the hardware performance requirement of operational equipment is reduced, and the method is suitable for mechanical arm force and position hybrid control of all series-connected robots; the mechanical arm force and position hybrid control method does not need to introduce inertial data and the like needed by impedance control, admittance control and the like, only utilizes virtual spring force, virtual damping force and output control force to form a simple model, and the simple model can combine the virtual spring force, the virtual damping force and the output control force to realize hybrid control of force application and position, realize simultaneous control of tangential force and normal force, and finish mechanical arm operation needing force application such as polishing and the like; in addition, the virtual spring force and the virtual damping force are calculated and obtained based on the position information and the speed information respectively, complex data such as mass, inertia, acceleration and the like do not need to be introduced, and compared with the mass, the inertia and the acceleration, the position information and the speed information are data information which is easy to obtain in data measurement, so that a data source for force and position hybrid control can be simplified, a data source with higher precision can be conveniently obtained, and the calculation precision of the force and position hybrid control is improved.
Drawings
Fig. 1 is a flowchart of a mechanical arm force-position hybrid control method according to an embodiment of the present disclosure.
Fig. 2 is a schematic structural diagram of a robot arm model constructed by a spring and a damper in a robot arm force-position hybrid control method according to an embodiment of the present disclosure.
Fig. 3 is a control block diagram of a mechanical arm force and position hybrid control method according to an embodiment of the present application.
Fig. 4 is a schematic structural diagram of a mechanical arm force-position hybrid control device according to an embodiment of the present disclosure.
Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
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 only a part of the embodiments of the present application, and not all of the 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 should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
In a first aspect, referring to fig. 1-3, fig. 1-3 illustrate a hybrid robot force/position control method for hybrid robot force/position control according to some embodiments of the present application, the method comprising the steps of:
and S1, calling a virtual component according to the position information and the speed information of the tail end of the mechanical arm to construct a mechanical arm model, and calculating a virtual spring force and a virtual damping force required by mechanical arm force-position hybrid control by using the mechanical arm model, wherein the virtual component comprises a spring and a damper.
More specifically, the virtual force is a force which does not exist actually, and can be calculated and adjusted by mapping the virtual force to the joint moment of the mechanical arm, so that the torque generated by the joint moment can achieve the same effect as the virtual force.
More specifically, the position information of the robot arm is position change trajectory data in the planning movement, and includes an actual position and a target position, where the actual position is an existing position of the robot arm end, and the target position is a position to be reached by the robot arm end.
More specifically, the speed information of the robot arm is speed change data in the planning movement, including an actual speed and a target speed, wherein the actual speed is an existing speed of the robot arm tip, and the target speed is a speed to be reached by the robot arm tip.
Specifically, as shown in fig. 2, a virtual component comprising a spring and a damper is called to simplify and construct a mechanical arm model, the mechanical arm model simulates the tail end of a mechanical arm by using the spring and damper virtual component, the composition of the mechanical arm model is effectively simplified, and the mechanical arm model can calculate the required virtual spring force and virtual damping force based on position information and speed information so as to simulate and calculate the spring force and the impedance force required to be achieved when the mechanical arm actually works.
More specifically, the virtual spring force is calculated based on the position information of the mechanical arm, the virtual damping force is calculated based on the speed information of the mechanical arm, the virtual spring force and the virtual damping force respectively simulate the rigidity control and the damping control of the movement of the mechanical arm, the control force required by the movement displacement of the mechanical arm is reasonably decomposed, and the composition of a mechanical model is effectively simplified.
More specifically, compared with a traditional complex model special for the mechanical arm, the modeling mode of constructing the mechanical arm model by adopting the virtual components of the spring and the damper is simple in modeling and suitable for different mechanical arms, and the mechanical arm model can be constructed by only calling the virtual components of the appropriate spring and damper according to the specific structural parameters of the mechanical arm.
More specifically, the virtual member of the spring and the virtual member of the damper are respectively provided with corresponding model parameters, for example, the virtual member of the spring has a stiffness coefficient, and the virtual member of the damper has a damping coefficient, so that the virtual member of the spring with the appropriate stiffness coefficient and the virtual member of the damper with the appropriate damping coefficient can be called according to design requirements.
More specifically, the acquisition path of the spring virtual member with the appropriate stiffness coefficient and the damper virtual member with the appropriate damping coefficient may be based on experiments and repeated adjustment for acquisition, or may be based on different design parameters of the mechanical arm, such as length, weight, and other structural characteristics to construct a database matched with the spring and the damper virtual member, so that the mechanical arm can simultaneously or separately use the appropriate spring and damper virtual member to construct a mechanical arm model when meeting the design of specific design parameters, and the method has the characteristic of wide applicability range.
S2, calculating the required output control force according to the target contact force and the actual contact force at the tail end of the mechanical arm;
specifically, the output control force is used for the force application control adjustment of the robot arm, that is, the control adjustment of the target force applied to the corresponding work target.
Specifically, when the actual contact force is zero, the required output control force is calculated only with the target contact force.
Specifically, the target contact force is a contact force vector which needs to be applied to the target during normal operation of the robot arm, and is a preset contact force which needs to be applied to the target, such as a pre-designed normal force which needs to be applied to a workpiece during polishing operation.
And S3, calculating the moment required by the joint of the mechanical arm through a Jacobian matrix based on the virtual spring force, the virtual damping force and the output control force, and performing force-position hybrid control on the mechanical arm according to the moment required by the joint.
Specifically, the virtual spring force, the virtual damping force and the output control force can be calculated and converted into mechanical arm joint torque through Jacobian matrix mapping, so that the torque generated by the mechanical arm joint torque can achieve the same effect as the virtual force and the output control force, the joint torque is directly generated by the operation of each joint motor on the mechanical arm, namely, the force and position hybrid control of the mechanical arm machine type is directly achieved based on the virtual force and the output control force calculation.
The mechanical arm force and position hybrid control method of the embodiment of the application is characterized in that a mechanical arm model is formed on the basis of a virtual component comprising a spring and a damper, then acquiring a virtual spring force and a virtual damping force based on the position information and the speed information, acquiring an output control force based on the contact force of the tail end of the mechanical arm, calculating the moment required by the joint of the mechanical arm by combining the virtual spring force, the virtual damping force and the output control force through a Jacobi matrix to perform force-position hybrid control on the mechanical arm, the method simplifies the construction of the mechanical arm model, can select proper springs and dampers to match and model according to the characteristics of different mechanical arms, has the characteristics of wide applicability range, simple modeling, less calculated amount and wide applicability, effectively improves the operational efficiency of mechanical arm control, the hardware performance requirement of the computing equipment is reduced, and the method is suitable for mechanical arm force and position hybrid control of all tandem robots; the mechanical arm force and position hybrid control method does not need to introduce inertial data and the like needed by impedance control, admittance control and the like, only utilizes virtual spring force, virtual damping force and output control force to form a simple model, and the simple model can combine the virtual spring force, the virtual damping force and the output control force to realize hybrid control of force application and position, realize simultaneous control of tangential force and normal force, and finish mechanical arm operation needing force application such as polishing and the like; in addition, the virtual spring force and the virtual damping force are calculated and obtained based on the position information and the speed information respectively, complex data such as mass, inertia, acceleration and the like do not need to be introduced, and compared with the mass, the inertia and the acceleration, the position information and the speed information are data information which is easy to obtain in data measurement, so that a data source for force and position hybrid control can be simplified, a data source with higher precision can be conveniently obtained, and the calculation precision of the force and position hybrid control is improved.
In some preferred embodiments, step S1 includes the following sub-steps:
s11, acquiring position information and speed information of the tail end of the mechanical arm, wherein the position information comprises an actual position and a target position, and the speed information comprises an actual speed and a target speed;
specifically, an actual position, a target position in the robot arm end position information, and an actual speed, a target speed in the speed information are acquired.
S12, selecting a spring and a damper virtual component to form a mechanical arm model based on the position information and the speed information of the tail end of the mechanical arm;
specifically, since position control and velocity control of the corresponding robot arm need to be implemented, each robot arm includes a spring for calculating a virtual spring force and a damper for calculating a virtual damping force, thereby constituting a corresponding robot arm model.
S13, acquiring the stiffness coefficient of the corresponding spring and the damping coefficient of the damper as the stiffness coefficient and the damping coefficient of the mechanical arm model;
specifically, the spring and damper virtual components are virtual models, corresponding virtual models can be directly extracted from the database to be combined to form a mechanical arm model, the extracted virtual models of the spring and the damper comprise corresponding stiffness coefficients and damping coefficients, and the model types or serial numbers can be directly input from the database to be directly extracted.
And S14, calculating to obtain a virtual spring force according to the difference between the actual position and the target position of the tail end of the mechanical arm and the stiffness coefficient, and calculating to obtain a virtual damping force according to the difference between the actual speed and the target speed of the tail end of the mechanical arm and the damping coefficient.
Specifically, as shown in fig. 2, the method of the embodiment of the present application utilizes two virtual components, namely a spring and a damper, to perform simulation calculation of a virtual spring force and a virtual damping force, respectively, thereby effectively simplifying the structure of the robot arm simulation, where the point O is the origin of coordinates of the robot arm.
Specifically, let the virtual spring force be
Then there is
，
Is a stiffness coefficient, is determined according to a corresponding spring model,
is the target position of the tail end of the mechanical arm,
the actual position of the end of the mechanical arm.
In particular, the virtual damping force is recorded
Then there is a virtual damping force
，
For the damping coefficient, is determined according to the corresponding damper model,
is the target speed at the end of the mechanical arm,
is the actual velocity of the end of the arm.
More specifically, the stiffness coefficient
And damping coefficient
The selection and the correction are carried out through experiments, namely, the virtual model of the proper spring and damper is selected and used based on the repeated adjustment of the experiments and the correction, so that the combination of the corresponding spring and the damper can simulate the corresponding machineThe motion state of the arm.
More specifically, a database about the springs and the dampers can be established based on the mechanical arm structure parameters, and when the force and position hybrid control is carried out on a specific mechanical arm, the matched springs and dampers can be called from the database to carry out simulation calculation on the virtual force by inputting the mechanical arm mechanism parameters.
In some preferred embodiments, in step S1, the VMC software calls a virtual component, and a robot arm model is composed based on the virtual component to perform force position hybrid control of the robot arm.
Specifically, the VMC (virtual Motion capture) is virtual simulation software, and the implementation method of the software mainly selects a corresponding virtual component on an acting object according to actual needs, and the virtual component may be an object known by any imaginary mathematical model, such as a damper, a spring, a motor, and the like, so that a suitable spring and damper virtual component can be called from the VMC to form a mechanical arm model so as to quickly complete the mechanical arm model to perform mechanical calculation.
In some preferred embodiments, in the process of acquiring the output control force in step S2, as shown in fig. 3, a target force, i.e. a contact force acting on a target, needs to be added to the control inner ring of the robot arm, so that there is a force
Wherein, in the step (A),
in order to output the control force,
and
respectively a target contact force and an actual contact force at the tail end of the mechanical arm,
the correction coefficient is used for correcting according to the actual contact force to adjust the output control force.
In some preferred embodiments, step S3 includes the following sub-steps:
s31, calculating and acquiring a hybrid control force according to the virtual spring force, the virtual damping force and the output control force;
specifically, the mixing control force is recorded asFThen there is
Thus, the hybrid control force can be obtained by quickly calculating the output control force, the virtual spring force, and the virtual damping force.
S32, calculating and acquiring the moment required by the corresponding joint of the mechanical arm according to the mixed control force and the Jacobian matrix;
specifically, since the force required to drive the robot arm for the force-position hybrid control cannot be directly generated by the drive source, it needs to be mapped onto the joint moment and generated by the motor.
Specifically, as shown in FIG. 3, the position vector of the robot arm joint space is
The actual position of the tail end of the mechanical arm in the generalized coordinate system
Is a one-bit attitude vector. According to the principle of virtual work, the moment vector of the joint
Under the action of (2), the position vector of the joint space is virtually displaced as
The virtual displacement of the pose vector of the body is
Then the virtual work of the system
Comprises the following steps:
the pose vector of the body can be obtained by positive kinematics
And position vector of joint spaceqThe relationship of (1):
whereinJFor a jacobian matrix, combining the two equations above yields:
in particular, the Jacobian matrixJIs a matrix of first order partial derivatives arranged in a manner, the determinant of which is called jacobian. The significance of the jacobian matrix is that it embodies an optimal linear approximation of a given point to a differentiable equation. Thus, the jacobian matrix is analogous to the derivative of a multivariate function.
Since the motion of the robot arm is required to be stable, it is ensured that the whole motion system of the robot arm is balanced, i.e. the whole motion system of the robot arm is balanced
，
When the value is other than 0, the following equation is substituted:
thus, based on the hybrid control force required at the end of the robot armFI.e. the joint moment vector can be calculated
(ii) a In addition, the actual position of the end of the arm
And actual speed
Mainly by joint space position vector
And velocity vector
Derived from positive kinematic calculations, i.e.
And
therefore, the following are:
wherein the content of the first and second substances,
、
and
for the target planning values of the mechanical arm, namely the target position, the target speed and the target contact force of the tail end of the mechanical arm,
、
and is a feedback value of the robot arm that is an actual value,
in the form of a jacobian matrix,
is transposed by a Jacobian matrix, and the joint moment vector of the mechanical arm can be calculated through the values
。
Therefore, in step S3, the required torque is a joint torque vector
Which satisfies the above
The calculation formula of (2).
Similarly, the virtual velocity is given by the pose vector of the body
Or virtual contact force of pose vector of body
Can also be calculated to obtain
Such as
Further obtain
And will not be described in detail herein.
And S33, integrating the torque required by each joint of the mechanical arm, and performing force position hybrid control on the whole mechanical arm.
Specifically, each joint of the mechanical arm can pass through a joint torque vector
And performing force and position hybrid control, wherein for the serial mechanical arm, the moment required by each joint of the mechanical arm needs to be integrated, and the force and position hybrid control is performed on the whole mechanical arm to realize the control of the complex motion of the mechanical arm. In some preferred embodiments, the actual contact force is measured by a force sensor at the end of the robotic arm.
Specifically, the actual contact force is a force which is fed back by a force sensor arranged at the tail end of the mechanical arm and is obtained in real time by the force sensor
Knot of
The output control force can be corrected and adjusted in real time.
In some preferred embodiments, when the target contact force is greater than the actual contact force, the output control force is greater than the target contact force, causing the actual contact force to increase rapidly to reach the target contact force.
In a second aspect, please refer to fig. 4, fig. 4 is a mechanical arm force and position hybrid control apparatus for mechanical arm force and position hybrid control provided in some embodiments of the present application, including:
the virtual force calculation module calls a virtual component according to the position information and the speed information of the tail end of the mechanical arm to construct a mechanical arm model, and calculates a virtual spring force and a virtual damping force required by mechanical arm force-position hybrid control by using the mechanical arm model, wherein the virtual component comprises a spring and a damper;
the control force calculation module is used for calculating required output control force according to the target contact force and the actual contact force at the tail end of the mechanical arm;
the moment calculation module is used for calculating the moment required by the mechanical arm joint through a Jacobian matrix based on the virtual spring force, the virtual damping force and the output control force;
and the force position hybrid control module is used for carrying out force position hybrid control on the mechanical arm according to the torque required by the joint.
The utility model provides a mechanical arm power position hybrid control device of embodiment, constitute the arm model based on the virtual component including spring and attenuator through virtual force calculation module, and obtain virtual spring force and virtual damping force based on position information and speed information, obtain the output control power through control force calculation module based on the terminal contact force of arm, utilize moment calculation module combination virtual spring force, virtual damping force and output control power to calculate the required moment of arm joint through jacobian matrix and carry out power position hybrid control to the arm through power position hybrid control module application joint moment, the modeling is simple, the calculated amount is few, extensive applicability's characteristics, effectively improve the computational efficiency of arm control, and reduce the hardware performance requirement of arithmetic device, and be applicable to the arm power position hybrid control of all tandem type robots.
In a third aspect, referring to fig. 5, fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application, where the present application provides an electronic device 3, including: the processor 301 and the memory 302, the processor 301 and the memory 302 being interconnected and communicating with each other via a communication bus 303 and/or other form of connection mechanism (not shown), the memory 302 storing a computer program executable by the processor 301, the processor 301 executing the computer program when the computing device is running to perform the method of any of the alternative implementations of the embodiments described above.
In a fourth aspect, the present application provides a storage medium, and when being executed by a processor, the computer program performs the method in any optional implementation manner of the foregoing embodiments. The storage medium may be implemented by any type of volatile or nonvolatile storage device or combination thereof, such as a Static Random Access Memory (SRAM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), an Erasable Programmable Read-Only Memory (EPROM), a Programmable Read-Only Memory (PROM), a Read-Only Memory (ROM), a magnetic Memory, a flash Memory, a magnetic disk, or an optical disk.
In summary, the embodiment of the application provides a mechanical arm force and position hybrid control method, a device, an electronic device and a storage medium, wherein the method comprises the steps of forming a mechanical arm model based on a virtual component comprising a spring and a damper, calculating the torque required by a mechanical arm joint through a jacoby matrix by combining a virtual force and an output control force, and performing force and position hybrid control on the mechanical arm, so that the mechanical model of the existing mechanical arm is effectively simplified, the operation efficiency of mechanical arm control is improved, the hardware performance requirement of operation equipment is reduced, and the method is suitable for mechanical arm force and position hybrid control of all series-connected robots.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
In addition, units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
Furthermore, the 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.
In this document, 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.
The above description is only an example of the present application and is not intended to limit the scope of 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 mechanical arm force and position hybrid control method is used for mechanical arm force and position hybrid control, and is characterized by comprising the following steps:
s1, calling a virtual component according to the position information and the speed information of the tail end of the mechanical arm to construct a mechanical arm model, and calculating a virtual spring force and a virtual damping force required by mechanical arm force-position hybrid control by using the mechanical arm model, wherein the virtual component comprises a spring and a damper;
s2, calculating the required output control force according to the target contact force and the actual contact force at the tail end of the mechanical arm;
and S3, calculating the moment required by the joint of the mechanical arm through a Jacobian matrix based on the virtual spring force, the virtual damping force and the output control force, and performing force-position hybrid control on the mechanical arm according to the moment required by the joint.
2. The mechanical arm force and position hybrid control method according to claim 1, wherein the step S1 includes the following sub-steps:
s11, acquiring position information and speed information of the tail end of the mechanical arm, wherein the position information comprises an actual position and a target position, and the speed information comprises an actual speed and a target speed;
s12, selecting a spring and a damper virtual component to form a mechanical arm model based on the position information and the speed information of the tail end of the mechanical arm;
s13, acquiring the stiffness coefficient of the corresponding spring and the damping coefficient of the damper as the stiffness coefficient and the damping coefficient of the mechanical arm model;
and S14, calculating to obtain a virtual spring force according to the difference between the actual position and the target position of the tail end of the mechanical arm and the stiffness coefficient, and calculating to obtain a virtual damping force according to the difference between the actual speed and the target speed of the tail end of the mechanical arm and the damping coefficient.
3. The method according to claim 1, wherein in step S1, the VMC software calls a virtual component to form a robot model based on the virtual component to perform the force/position hybrid control of the robot.
4. The mechanical arm force and position hybrid control method according to claim 1, wherein the step S3 includes the following sub-steps:
s31, calculating and acquiring a hybrid control force according to the virtual spring force, the virtual damping force and the output control force;
s32, calculating and acquiring the moment required by the corresponding joint of the mechanical arm according to the mixed control force and the Jacobian matrix;
and S33, integrating the torque required by each joint of the mechanical arm, and performing force position hybrid control on the whole mechanical arm.
5. The mechanical arm force-position hybrid control method according to claim 1, wherein the actual contact force is measured by a force sensor at the end of the mechanical arm.
6. The mechanical arm force-position hybrid control method according to claim 1, wherein the output control force is larger than a target contact force when the target contact force is larger than the actual contact force.
7. The mechanical arm force and position hybrid control method according to claim 2, wherein in step S3, the required torque is a joint torque vector
Which satisfies the formulaFormula (II):
8. The utility model provides a mechanical arm power position hybrid control device for mechanical arm power position hybrid control, its characterized in that includes:
the virtual force calculation module is used for calling a virtual component according to the position information and the speed information of the tail end of the mechanical arm to construct a mechanical arm model, calculating a virtual spring force and a virtual damping force required by mechanical arm force-position hybrid control by using the mechanical arm model, and the virtual component comprises a spring and a damper;
the control force calculation module is used for calculating required output control force according to the target contact force and the actual contact force at the tail end of the mechanical arm;
the moment calculation module is used for calculating the moment required by the mechanical arm joint through a Jacobian matrix based on the virtual spring force, the virtual damping force and the output control force;
and the force position hybrid control module is used for carrying out force position hybrid control on the mechanical arm according to the torque required by the joint.
9. An electronic device comprising a processor and a memory, said memory storing computer readable instructions which, when executed by said processor, perform the steps of the method of any of claims 1-7.
10. A storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, performs the steps of the method according to any one of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110883830.3A CN113319857B (en) | 2021-08-03 | 2021-08-03 | Mechanical arm force and position hybrid control method and device, electronic equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110883830.3A CN113319857B (en) | 2021-08-03 | 2021-08-03 | Mechanical arm force and position hybrid control method and device, electronic equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113319857A CN113319857A (en) | 2021-08-31 |
| CN113319857B true CN113319857B (en) | 2021-10-12 |
Family
ID=77426882
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110883830.3A Active CN113319857B (en) | 2021-08-03 | 2021-08-03 | Mechanical arm force and position hybrid control method and device, electronic equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113319857B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113842217B (en) * | 2021-09-03 | 2022-07-01 | 北京长木谷医疗科技有限公司 | Method and system for limiting motion area of robot |
| CN113515133B (en) * | 2021-09-14 | 2021-12-14 | 季华实验室 | AGV force control method and device, electronic equipment and storage medium |
| CN113977585B (en) * | 2021-11-25 | 2024-03-15 | 中国北方车辆研究所 | Virtual force servo compliant control method |
| CN114789444B (en) * | 2022-05-05 | 2022-12-16 | 山东省人工智能研究院 | Compliant human-computer contact method based on deep reinforcement learning and impedance control |
| CN115257995A (en) * | 2022-05-19 | 2022-11-01 | 伍福人工智能(河南)有限公司 | Robot control method, device, terminal device and storage medium |
| WO2024050729A1 (en) * | 2022-09-07 | 2024-03-14 | Shanghai Flexiv Robotics Technology Co., Ltd. | Robot teleoperation system and method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4860215A (en) * | 1987-04-06 | 1989-08-22 | California Institute Of Technology | Method and apparatus for adaptive force and position control of manipulators |
| CN101152719A (en) * | 2006-09-25 | 2008-04-02 | 发那科株式会社 | Robot controller performing soft control |
| CN110065070A (en) * | 2019-04-29 | 2019-07-30 | 华中科技大学 | A kind of robot adaptive impedance control system based on kinetic model |
| CN110653801A (en) * | 2019-09-30 | 2020-01-07 | 哈尔滨工业大学 | Guide control system of robot operating arm and flexible control and teaching learning method thereof |
| CN112847327A (en) * | 2019-11-12 | 2021-05-28 | 中国科学院沈阳自动化研究所 | Compliant control method for joint of cooperative robot |
-
2021
- 2021-08-03 CN CN202110883830.3A patent/CN113319857B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4860215A (en) * | 1987-04-06 | 1989-08-22 | California Institute Of Technology | Method and apparatus for adaptive force and position control of manipulators |
| CN101152719A (en) * | 2006-09-25 | 2008-04-02 | 发那科株式会社 | Robot controller performing soft control |
| CN110065070A (en) * | 2019-04-29 | 2019-07-30 | 华中科技大学 | A kind of robot adaptive impedance control system based on kinetic model |
| CN110653801A (en) * | 2019-09-30 | 2020-01-07 | 哈尔滨工业大学 | Guide control system of robot operating arm and flexible control and teaching learning method thereof |
| CN112847327A (en) * | 2019-11-12 | 2021-05-28 | 中国科学院沈阳自动化研究所 | Compliant control method for joint of cooperative robot |
Non-Patent Citations (1)
| Title |
|---|
| 机器人与环境间力/位置控制技术研究与应用;李正义;《中国优秀博硕士学位论文全文数据库(博士)信息科技辑》;20110915;I140-43 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113319857A (en) | 2021-08-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113319857B (en) | Mechanical arm force and position hybrid control method and device, electronic equipment and storage medium | |
| CN108241339B (en) | Motion solving and configuration control method of humanoid mechanical arm | |
| de Wit et al. | Theory of robot control | |
| CN104723340A (en) | Impedance control method for flexibility joint mechanical arm based on connection and damping configuration | |
| US20070083290A1 (en) | Apparatus and method for computing operational-space physical quantity | |
| CN112904728A (en) | Mechanical arm sliding mode control trajectory tracking method based on improved approach law | |
| Braumann et al. | Real-time robot simulation and control for architectural design | |
| CN106393116A (en) | Mechanical arm fractional order iterative learning control method and system with initial state learning function | |
| CN110861088A (en) | Motion optimization method of redundant degree of freedom robot | |
| CN112123341B (en) | Robot double-arm coordinated motion control method and device and electronic equipment | |
| Patwardhan et al. | Kinematic analysis and development of simulation software for nex dexter robotic manipulator | |
| CN107505835A (en) | A kind of method, apparatus and system of control machinery hands movement | |
| CN112497208A (en) | Mobile operation robot general control method based on full-state impedance controller | |
| CN115351780A (en) | Method for controlling a robotic device | |
| JP5398589B2 (en) | Target motion evaluation device for legged mobile robot | |
| JP3369351B2 (en) | Elasticity setting method and control device for articulated manipulator | |
| Colomé et al. | Reinforcement learning of bimanual robot skills | |
| Jing et al. | A recursive dynamic modeling and control for dual-arm manipulator with elastic joints | |
| CN114055467A (en) | Space pose online simulation system based on five-degree-of-freedom robot | |
| US20220035352A1 (en) | Virtualized Cable Modeling For Manufacturing Resource Simulation | |
| CN115890735A (en) | Arm system, arm, control method thereof, controller, and storage medium | |
| CN114888812A (en) | Mobile mechanical arm station planning method based on rigidity performance optimization | |
| Park et al. | Tracking on lie group for robot manipulators | |
| Parthasarathy et al. | ADAMS-MATLAB co-simulation of a serial manipulator | |
| Shafiee-Ashtiani et al. | Kinematic analysis of a 3-UPU parallel Robot using the Ostrowski-Homotopy Continuation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |