CN113442143A - Mechanical arm motion control method and device, controller and storage medium - Google Patents
Mechanical arm motion control method and device, controller and storage medium Download PDFInfo
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- CN113442143A CN113442143A CN202110911705.9A CN202110911705A CN113442143A CN 113442143 A CN113442143 A CN 113442143A CN 202110911705 A CN202110911705 A CN 202110911705A CN 113442143 A CN113442143 A CN 113442143A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- 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
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Abstract
The embodiment of the application provides a mechanical arm motion control method, a mechanical arm motion control device, a mechanical arm motion controller and a storage medium. The method comprises the following steps: acquiring a current pressure value in a mechanical arm pre-installation force area detected by a pressure sensor; if the current pressure value belongs to a first pressure interval or a second pressure interval, determining a target speed corresponding to the current pressure value according to a first change curve of speed along with pressure in the first pressure interval or a second change curve of speed along with pressure in the second pressure interval; the first pressure interval is an interval containing a zero drift value of the pressure sensor; the second pressure interval is the adjacent interval on the right side of the first pressure interval, and the speeds in the first pressure interval are both greater than 0 and less than the speed in the second pressure interval; and controlling the mechanical arm to move according to the target speed. By adopting the scheme of the embodiment of the application to control the motion of the mechanical arm, the flexibility and the safety of the motion can be considered.
Description
Technical Field
The embodiment of the application relates to the technical field of mechanical arms, in particular to a method and a device for controlling the motion of a mechanical arm, a controller and a storage medium.
Background
With the continuous development of control technology, mechanical arms have been applied to various industries, such as: the robotic arms of the medical surgical robot may be employed to assist a surgeon in performing surgical treatments, and the like, wherein the medical surgical robot may include: oral surgery robots, neurosurgical surgery robots, spinal surgery robots, and other surgical robots.
Currently, an operator (such as a doctor) can control the motion of the mechanical arm by applying force at the position of the mechanical arm. Specifically, the method comprises the following steps: the robot arm control system acquires pressure detected by a pressure sensor mounted at a robot arm position, and then performs motion control on the robot arm based on the pressure.
Because the pressure applied to the mechanical arm by an operator may have differences, different pressures have different influences on the motion of the mechanical arm, and the pressure sensor may cause a problem that a measured pressure value is inconsistent with an actually applied pressure value due to a zero drift phenomenon, that is, when pressure is not actually applied, a parameter of the pressure sensor is also not zero. Therefore, on the premise of considering both the flexibility and the safety of the movement, how to control the mechanical arm based on the pressure value measured by the pressure sensor is a problem to be solved urgently.
Disclosure of Invention
The application aims to provide a mechanical arm motion control method, a device, a controller and a storage medium, which are used for controlling a mechanical arm based on a pressure value measured by a pressure sensor on the premise of considering both the flexibility and the safety of motion.
According to a first aspect of embodiments of the present application, there is provided a robot arm motion control method, including:
acquiring a current pressure value in a mechanical arm pre-installation force area detected by a pressure sensor;
if the current pressure value belongs to a first pressure interval or a second pressure interval, determining a target speed corresponding to the current pressure value according to a first change curve of speed along with pressure in the first pressure interval or a second change curve of speed along with pressure in the second pressure interval; the first pressure interval is an interval containing a zero drift value of the pressure sensor; the second pressure interval is a right adjacent interval of the first pressure interval, and the speeds in the first pressure interval are both greater than 0 and less than the speed in the second pressure interval;
and controlling the mechanical arm to move according to the target speed.
According to a second aspect of embodiments of the present application, there is provided a robot motion control apparatus including:
the current pressure value acquisition module is used for acquiring a current pressure value in a mechanical arm pre-set force area detected by the pressure sensor;
a target speed determining module, configured to determine, if the current pressure value belongs to a first pressure interval or a second pressure interval, a target speed corresponding to the current pressure value according to a first change curve of speed with pressure in the first pressure interval or a second change curve of speed with pressure in the second pressure interval; the first pressure interval is an interval containing a zero drift value of the pressure sensor; the second pressure interval is a right adjacent interval of the first pressure interval, and the speeds in the first pressure interval are both greater than 0 and less than the speed in the second pressure interval;
and the control module is used for controlling the mechanical arm to move according to the target speed.
According to a third aspect of the embodiments of the present application, there is provided a controller, including a processor, a communication interface, a memory, and a communication bus, where the processor, the memory, and the communication interface complete communication with each other through the communication bus; the memory is used for storing computer programs, and the processor is used for implementing the mechanical arm motion control method according to the first aspect when executing the programs stored in the memory.
According to a fourth aspect of embodiments of the present application, there is provided a computer-readable medium having stored thereon a computer program which, when executed by a processor, implements the robot arm motion control method according to the first aspect.
In the embodiment of the present application, on one hand, the speed value in the first pressure interval including the zero drift value is set to a value greater than 0, so that even if the pressure value detected by the pressure sensor is small, for example, the pressure value is the zero drift value, the mechanical arm starts to move, and therefore, the flexibility of the movement of the mechanical arm can be improved; on the other hand, compared with the speed value in the second pressure interval, the speed value in the first pressure interval is smaller, so that even if the pressure value detected by the pressure sensor is not the real pressure value actually applied in the force application area but a zero drift value (namely, a zero drift phenomenon occurs), the movement range of the mechanical arm is small due to the smaller movement speed, and the movement safety is ensured. In summary, the method, the device, the controller and the storage medium for controlling the motion of the mechanical arm provided by the embodiment of the application can give consideration to both the flexibility and the safety of the motion.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
fig. 1 is a flowchart illustrating steps of a method for controlling a motion of a robot according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a variation curve of a zero drift value of a pressure sensor with time;
fig. 3 is a flowchart illustrating steps of a robot motion control method according to a second embodiment of the present disclosure;
FIG. 4 is a graphical illustration of velocity versus pressure curves provided by embodiments of the present application;
FIG. 5 is a graph illustrating acceleration versus pressure curves provided by an embodiment of the present application;
fig. 6 is a schematic structural diagram of a robot arm motion control apparatus according to a third embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of a controller according to a fourth embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Example one
Referring to fig. 1, a flowchart illustrating steps of a method for controlling a motion of a robot according to an embodiment of the present disclosure is shown.
The mechanical arm motion control method of the embodiment comprises the following steps:
The force application area may be preset according to an actual situation, and in the embodiment of the present application, a specific setting manner of the force application area is not limited, for example: for the mechanical arm of the medical surgical robot, the preset force application area may be a certain area at the end of the mechanical arm, and the like.
And 102, if the current pressure value belongs to a first pressure interval or a second pressure interval, determining a target speed corresponding to the current pressure value according to a first change curve of speed along with pressure in the first pressure interval or a second change curve of speed along with pressure in the second pressure interval.
Wherein, the first pressure interval is an interval containing the zero drift value of the pressure sensor; the second pressure interval is the adjacent interval on the right side of the first pressure interval, and the speed in the first pressure interval is greater than 0 and less than the speed in the second pressure interval.
The accuracy of the pressure sensor is limited, and a zero drift phenomenon exists, namely: even if the operator does not actually apply pressure to the preset force application area, the pressure sensor detects a pressure value which is not 0, and the value is the zero drift value.
The pressure sensor typically has two zero drift values, one being the maximum zero drift value Pmax and one being the stable zero drift value Psteady. Specifically, referring to fig. 2, fig. 2 is a graph illustrating the variation of the zero-point drift value of the pressure sensor with time, at the moment of removing the pressure applied to the pressure sensor, the pressure sensor can detect a larger zero-point drift value, i.e., the maximum zero-point drift value Pmax, which then quickly decays to a stable value, i.e., the stable zero-point drift value Psteady.
The first pressure interval in the embodiment of the present application may be an interval including the maximum zero-point drift value Pmax of the pressure sensor and the stable zero-point drift value Psteady. Further, the maximum zero-point drift value Pmax and the stable zero-point drift value Psteady may be zero-point drift values of the pressure sensor after the maximum pressure that can be borne by the mechanical arm and applied to the pressure sensor is removed.
For example: the maximum zero-point drift value Pmax of the pressure sensor is 3N, and the stable zero-point drift value Psteady is 5N, the first pressure interval may be [2,7], the second pressure interval may be a right adjacent interval of the first pressure interval, the left end point of the second pressure interval may be 7, and the right end point of the second pressure interval may be set according to actual conditions, for example, the right end point of the second pressure interval may be set as the maximum pressure that can be borne by the preset force application area of the robot arm, and the second pressure interval may be (7, 30) assuming that the maximum pressure that can be borne by the preset force application area is 30N.
In the embodiment of the present application, specific forms of the first transformation curve and the second transformation curve are not limited, for example: the curve can be a straight line, a quadratic curve, an exponential curve or a piecewise broken line, a combination of various curves of different types, and the like.
And 103, controlling the mechanical arm to move according to the target speed.
The direction of the current pressure value may be recorded while the pressure sensor detects the current pressure value within the preset force area, so that after the target speed is obtained in step 102, the robot arm may be controlled to move in the direction of the current pressure value according to the target speed in step.
In view of the existence of the zero drift value of the pressure sensor, in order to avoid the problem that the mechanical arm is difficult to stop even if pressure is not actually applied to the force application area, in the prior art, when the mechanical arm is controlled, a pressure threshold value which is greater than the zero drift value is usually set, and only when the pressure value detected by the pressure sensor is greater than the pressure threshold value, the mechanical arm is controlled to move. That is, in the prior art, when the pressure value detected by the pressure sensor is the zero drift value, the robot arm is in a stationary state. However, the above-described method has disadvantages in that: when the operator applies a small pressure to the force application area (e.g., the actual applied pressure is exactly equal to the zero drift value of the pressure sensor), the operator may want the robot arm to move, but the robot arm is still in the prior art control mode, and thus the flexibility of the motion control is poor.
In the embodiment of the present application, the speed value in the first pressure interval including the zero-point drift value is set to a value greater than 0, so that the mechanical arm starts to move even if the pressure value detected by the pressure sensor is small, for example, the pressure value is the zero-point drift value, and thus the flexibility of the movement of the mechanical arm can be improved.
On the other hand, in the embodiment of the application, the speed value in the first pressure interval is smaller than the speed value in the second pressure interval, so that even if the pressure value detected by the pressure sensor is not the real pressure value actually applied in the force application area but the zero drift value, the movement range of the mechanical arm is small due to the small movement speed, and the movement safety is ensured.
In summary, the method, the device, the controller and the storage medium for controlling the motion of the mechanical arm provided by the embodiment of the application can give consideration to both the flexibility and the safety of the motion.
Example two
Referring to fig. 3, a flowchart illustrating steps of a robot motion control method according to a second embodiment of the present application is shown.
The mechanical arm motion control method of the embodiment comprises the following steps:
If the current pressure value belongs to the first pressure interval or the second pressure interval, executing step 302, wherein the first pressure interval is an interval containing a zero drift value of the pressure sensor; the second pressure interval is the right adjacent interval of the first pressure interval.
If the current pressure value belongs to a third pressure interval, step 305 is executed, wherein the third pressure interval is a pressure interval in which the pressure value is greater than or equal to zero and is less than or equal to the left endpoint pressure value of the first pressure interval.
If the current pressure value is greater than the right endpoint pressure value of the second pressure interval, go to step 307.
Wherein the speeds in the first pressure interval are all larger than 0 and smaller than the speed in the second pressure interval. And the first change curve and the second change curve are both monotone non-decreasing function curves, and the slope of the first change curve is smaller than that of the second change curve.
In the embodiment of the present application, specific forms of the first transformation curve and the second transformation curve are not limited, for example: the curve can be a straight line, a quadratic curve, an exponential curve or a piecewise broken line, a combination of various curves of different types, and the like.
When the detected current pressure value is increased in the first pressure interval or the second pressure interval, the corresponding target speed is also increased. Thus, from the perspective of the operator, the visual perception is as follows: when a smaller pressure is applied to the mechanical arm, the mechanical arm moves at a smaller speed, and when a larger pressure is applied to the mechanical arm, the mechanical arm moves at a larger speed, so that the movement is smoother and free from pause and frustration.
For ease of understanding, the steps in the embodiments of the present application will be explained below with reference to specific examples in which the maximum zero-point drift value Pmax of the pressure sensor is 3N, and the stable zero-point drift value Psteady is 5N, the first pressure interval is [2,7], and the second pressure interval is (7,30 ]:
specifically, referring to fig. 4, fig. 4 is a schematic diagram of a speed-versus-pressure variation curve provided in an embodiment of the present application, where a first variation curve of speed-versus-pressure in a first pressure interval [2,7] is S1, a second variation curve of speed-versus-pressure in a second pressure interval (7,30] is S2 (in the embodiment of the present application, the specific forms of S1 and S2 are not limited, and are only taken as examples, here, straight lines are used), where the values of S1 are both greater than 0 and less than the values of S1, and the values of S1 and S2 are both monotone non-decreasing function curves, and the slope of S1 is less than the slope of S2.
After the current pressure value detected by the pressure sensor is obtained in step 301, if the current pressure value belongs to the first pressure interval [2,7], determining a target speed corresponding to the current pressure value according to S1; or, if the current pressure value belongs to the second pressure interval (7, 30), determining the target speed corresponding to the current pressure value according to the S2.
Wherein the acceleration in the first pressure interval is smaller than the acceleration in the second pressure interval.
Further, the third variation curve and the fourth variation curve are both monotone non-decreasing function curves, and the slope of the third variation curve is smaller than that of the fourth variation curve.
In the embodiment of the present application, specific forms of the third variation curve and the fourth variation curve are not limited, for example: the curve can be a straight line, a quadratic curve, an exponential curve or a piecewise broken line, a combination of various curves of different types, and the like.
And setting the third variation curve and the fourth variation curve as monotone non-decreasing function curves, and increasing the corresponding target acceleration value when the detected current pressure value is increased in the first pressure interval or the second pressure interval. Like this, apply a less pressure to the arm, then the arm spends longer time, reach target speed, when applying a great pressure to the arm, then the arm spends shorter time, can reach target speed, promptly: when a larger pressure value is applied to the mechanical arm, the response speed of the mechanical arm is very high, so that the mechanical arm has better controllability when being subjected to larger pressure.
The explanation is also given by way of example in step 302:
referring to fig. 5, fig. 5 is a schematic diagram of a variation curve of acceleration with pressure according to an embodiment of the present application, where a third variation curve of acceleration with pressure in a first pressure interval [2,7] is S3, and a fourth variation curve of acceleration with pressure in a second pressure interval (7, 30) is S4, where the values of S3 are both smaller than the value of S4, and S3 and S4 are both monotone non-decreasing function curves, and the slope of S3 is smaller than the slope of S4.
If the current pressure value belongs to the first pressure interval [2,7], determining a target acceleration value corresponding to the current pressure value according to S3; or if the current pressure value belongs to the second pressure interval (7, 30), determining the target acceleration value corresponding to the current pressure value according to S2.
And step 304, controlling the mechanical arm to reach the target speed based on the target acceleration value, and keeping the target speed to move. After that, the process returns to step 301.
And 305, determining a target acceleration value corresponding to the current pressure value according to a fifth variation curve of the acceleration along with the pressure in the third pressure interval.
The third pressure interval is a pressure interval with a pressure value greater than or equal to zero and less than or equal to a left endpoint pressure value of the first pressure interval.
Further, the fifth variation curve is a monotone non-decreasing function curve, and the acceleration in the third pressure interval is smaller than the acceleration in the second pressure interval.
The explanation is also given by way of example in step 302:
the pressure value of the left end point of the first pressure interval is 2, and the third pressure interval is [0,2 ]. Referring to fig. 5, a fifth variation curve of the acceleration with the pressure in the third pressure interval is S5, and if the current pressure value belongs to the third pressure interval [0, 2), the target acceleration value corresponding to the current pressure value may be determined according to S5.
And step 306, controlling the mechanical arm to stop moving based on the target acceleration value. Thereafter, the process returns to step 301.
If the current pressure value belongs to the third pressure interval, the target speed can be set to be 0, so that the stability of the mechanical arm can be improved, and the problem that the mechanical arm still continuously swings under very small pressure is solved.
And 307, determining the acceleration value corresponding to the right endpoint pressure value of the second pressure interval as the target acceleration value according to the fourth variation curve.
And 308, determining the speed corresponding to the right endpoint pressure value of the second pressure interval as a target speed according to the second variation curve, controlling the mechanical arm to reach the target speed based on the target acceleration value, and keeping the target speed to move.
Also explained with the example in step 302 are steps 307 and 308:
if the current pressure value is greater than the right endpoint pressure value 30N of the second pressure interval (7, 30), the target acceleration and the target speed are not increased any more, but the acceleration value corresponding to 30N is determined as the target acceleration according to the curve S4 in fig. 5, the speed value corresponding to 30N is determined as the target speed according to the curve S2 in fig. 4, and the mechanical arm is controlled.
In the embodiment of the present application, on one hand, the speed value in the first pressure interval including the zero drift value is set to a value greater than 0, so that even if the pressure value detected by the pressure sensor is small, for example, the pressure value is the zero drift value, the mechanical arm starts to move, and therefore, the flexibility of the movement of the mechanical arm can be improved; on the other hand, compared with the speed value in the second pressure interval, the speed value in the first pressure interval is smaller, so that even if the pressure value detected by the pressure sensor is not the real pressure value actually applied in the force application area but a zero drift value (namely, a zero drift phenomenon occurs), the movement range of the mechanical arm is small due to the smaller movement speed, and the movement safety is ensured. In summary, the method, the device, the controller and the storage medium for controlling the motion of the mechanical arm provided by the embodiment of the application can give consideration to both the flexibility and the safety of the motion.
Meanwhile, both the first variation curve and the second variation curve are set as monotone non-decreasing function curves, and therefore, no matter in the first pressure interval or the second pressure interval, when the detected current pressure value is increased, the corresponding target speed is also increased. Thus, from the perspective of the operator, the visual perception is as follows: when a smaller pressure is applied to the mechanical arm, the mechanical arm moves at a smaller speed, and when a larger pressure is applied to the mechanical arm, the mechanical arm moves at a larger speed, so that the movement is smoother, and no pause or frustration exists.
And setting the third variation curve and the fourth variation curve as monotone non-decreasing function curves, and increasing the corresponding target acceleration value when the detected current pressure value is increased in the first pressure interval or the second pressure interval. Like this, apply a less pressure to the arm, then the arm spends longer time, reach target speed, when applying a great pressure to the arm, then the arm spends shorter time, can reach target speed, promptly: when a larger pressure value is applied to the mechanical arm, the response speed of the mechanical arm is very high, so that the mechanical arm has better controllability when being subjected to larger pressure.
In addition, if the current pressure value is greater than the right endpoint pressure value of the second pressure interval, the target acceleration and the target speed are not increased any more, so that the situation that the target speed and the target acceleration are too large can be avoided, and the safety of mechanical arm control can be improved.
EXAMPLE III
Referring to fig. 6, fig. 6 is a schematic structural diagram of a robot arm motion control apparatus according to a third embodiment of the present application.
The utility model provides a mechanical arm motion control device includes:
a current pressure value obtaining module 601, configured to obtain a current pressure value in a mechanical arm pre-set force area detected by a pressure sensor;
a target speed determining module 602, configured to determine, if the current pressure value belongs to a first pressure interval or a second pressure interval, a target speed corresponding to the current pressure value according to a first change curve of speed with pressure in the first pressure interval or a second change curve of speed with pressure in the second pressure interval; the first pressure interval is an interval containing a zero drift value of the pressure sensor; the second pressure interval is the adjacent interval on the right side of the first pressure interval, and the speeds in the first pressure interval are both greater than 0 and less than the speed in the second pressure interval;
and a control module 603 for controlling the mechanical arm to move according to the target speed.
Optionally, in an embodiment of the present application, the first variation curve and the second variation curve are both monotone non-decreasing function curves, and a slope of the first variation curve is smaller than a slope of the second variation curve.
Optionally, in an embodiment of the present application, the control module 603 is specifically configured to: determining a target acceleration value corresponding to the current pressure value according to a third change curve of the acceleration along with the pressure in the first pressure interval or a fourth change curve of the acceleration along with the pressure in the second pressure interval; wherein the acceleration within the first pressure interval is less than the acceleration within the second pressure interval; and controlling the mechanical arm to reach the target speed based on the target acceleration value, and keeping the target speed to move.
Optionally, in an embodiment of the present application, the third variation curve and the fourth variation curve are both monotone non-decreasing function curves, and a slope of the third variation curve is smaller than a slope of the fourth variation curve.
Optionally, in an embodiment of the present application, the target speed determination module 602 is further configured to: if the current pressure value belongs to a third pressure interval, determining a target acceleration value corresponding to the current pressure value according to a fifth variation curve of the acceleration along with the pressure in the third pressure interval; and the control module 603 is triggered to control the mechanical arm to stop moving based on the target acceleration value; the third pressure interval is a pressure interval of which the pressure value is greater than or equal to zero and is less than or equal to the left endpoint pressure value of the first pressure interval;
optionally, in an embodiment of the present application, the fifth variation curve is a monotonic non-decreasing function curve, and the acceleration in the third pressure interval is smaller than the acceleration in the second pressure interval.
Optionally, in an embodiment of the present application, the targetable speed determination module 602 is further configured to: if the current pressure value is greater than the right endpoint pressure value of the second pressure interval, determining the speed corresponding to the right endpoint pressure value of the second pressure interval as the target speed according to the second variation curve;
correspondingly, the control module 603 is further configured to: if the current pressure value is larger than the right endpoint pressure value of the second pressure interval, determining the acceleration value corresponding to the right endpoint pressure value of the second pressure interval as a target acceleration value according to the fourth variation curve; and controlling the mechanical arm to reach the target speed based on the target acceleration value, and keeping the target speed to move.
The robot arm motion control device according to the embodiment of the present application is used to implement the robot arm motion control method according to the first embodiment or the second embodiment, and has the beneficial effects of the corresponding method embodiment, which are not described herein again. In addition, the functional implementation of each module in the robot arm motion control apparatus according to the embodiment of the present application can refer to the description of the corresponding part in the foregoing method embodiment, and is not repeated herein.
Example four,
Fig. 7 is a schematic structural diagram of a controller in a fourth embodiment of the present application, and the specific embodiment of the present application does not limit specific implementation of the controller.
The controller may include: a processor (processor)702, a Communications Interface 704, a memory 706, and a communication bus 708.
Wherein:
the processor 702, communication interface 704, and memory 706 communicate with each other via a communication bus 708.
A communication interface 704 for communicating with other electronic devices or servers.
The processor 702 is configured to execute the program 710, and may specifically execute the relevant steps in the above-described embodiment of the robot arm motion control method.
In particular, the program 710 may include program code that includes computer operating instructions.
The processor 702 may be a central processing unit CPU, or an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present application. The controller includes one or more processors, which may be the same type of processor, such as one or more CPUs; or may be different types of processors such as one or more CPUs and one or more ASICs.
The memory 706 stores a program 710. The memory 706 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
The program 710 may specifically be used to cause the processor 702 to perform the following operations: acquiring a current pressure value in a mechanical arm pre-installation force area detected by a pressure sensor; if the current pressure value belongs to a first pressure interval or a second pressure interval, determining a target speed corresponding to the current pressure value according to a first change curve of speed along with pressure in the first pressure interval or a second change curve of speed along with pressure in the second pressure interval; the first pressure interval is an interval containing a zero drift value of the pressure sensor; the second pressure interval is the adjacent interval on the right side of the first pressure interval, and the speeds in the first pressure interval are both greater than 0 and less than the speed in the second pressure interval; and controlling the mechanical arm to move according to the target speed.
For specific implementation of each step in the program 710, reference may be made to corresponding steps and corresponding descriptions in units in the above embodiments of the robot arm motion control method, which are not described herein again. It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described devices and modules may refer to the corresponding process descriptions in the foregoing method embodiments, and are not described herein again.
With the controller of this embodiment, on one hand, the speed value in the first pressure interval including the zero drift value is set to a value greater than 0, so that even if the pressure value detected by the pressure sensor is small, for example, the pressure value is the zero drift value, the robot arm starts to move, and therefore the flexibility of the robot arm movement can be improved; on the other hand, compared with the speed value in the second pressure interval, the speed value in the first pressure interval is smaller, so that even if the pressure value detected by the pressure sensor is not the real pressure value actually applied in the force application area but a zero drift value (namely, a zero drift phenomenon occurs), the movement range of the mechanical arm is small due to the smaller movement speed, and the movement safety is ensured. In summary, the method, the device, the controller and the storage medium for controlling the motion of the mechanical arm provided by the embodiment of the application can give consideration to both the flexibility and the safety of the motion.
As another aspect, the present application also provides a computer-readable medium on which a computer program is stored, the program, when executed by a processor, implementing the robot arm motion control method as described in the first or second embodiment.
The expressions "first", "second", "said first" or "said second" as used in various embodiments of the present application may modify various components irrespective of order and/or importance, but these expressions do not limit the respective components. The above description is only configured for the purpose of distinguishing elements from other elements. For example, the first user equipment and the second user equipment represent different user equipment, although both are user equipment. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the present application.
When an element (e.g., a first element) is referred to as being "operably or communicatively coupled" or "connected" (operably or communicatively) to "another element (e.g., a second element) or" connected "to another element (e.g., a second element), it is understood that the element is directly connected to the other element or the element is indirectly connected to the other element via yet another element (e.g., a third element). In contrast, it is understood that when an element (e.g., a first element) is referred to as being "directly connected" or "directly coupled" to another element (a second element), no element (e.g., a third element) is interposed therebetween.
The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention herein disclosed is not limited to the particular combination of features described above, but also encompasses other arrangements formed by any combination of the above features or their equivalents without departing from the spirit of the invention. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.
Claims (10)
1. A method for controlling motion of a robot arm, the method comprising:
acquiring a current pressure value in a mechanical arm pre-installation force area detected by a pressure sensor;
if the current pressure value belongs to a first pressure interval or a second pressure interval, determining a target speed corresponding to the current pressure value according to a first change curve of speed along with pressure in the first pressure interval or a second change curve of speed along with pressure in the second pressure interval; the first pressure interval is an interval containing a zero drift value of the pressure sensor; the second pressure interval is a right adjacent interval of the first pressure interval, and the speeds in the first pressure interval are both greater than 0 and less than the speed in the second pressure interval;
and controlling the mechanical arm to move according to the target speed.
2. The method according to claim 1, wherein the first and second profiles are monotonic non-decreasing function profiles, and wherein the slope of the first profile is less than the slope of the second profile.
3. The method of claim 2, wherein controlling the robotic arm to move at the target speed comprises:
determining a target acceleration value corresponding to the current pressure value according to a third change curve of the acceleration along with the pressure in the first pressure interval or a fourth change curve of the acceleration along with the pressure in the second pressure interval; wherein the acceleration within the first pressure interval is less than the acceleration within the second pressure interval;
and controlling the mechanical arm to reach the target speed based on the target acceleration value, and keeping the target speed to move.
4. The method according to claim 3, wherein the third and fourth profiles are each a monotonic non-decreasing function profile, and the slope of the third profile is less than the slope of the fourth profile.
5. The method of claim 1, further comprising:
if the current pressure value belongs to a third pressure interval, determining a target acceleration value corresponding to the current pressure value according to a fifth variation curve of acceleration along with pressure in the third pressure interval; the third pressure interval is a pressure interval of which the pressure value is greater than or equal to zero and is less than or equal to the pressure value of the endpoint at the left side of the first pressure interval;
and controlling the mechanical arm to stop moving based on the target acceleration value.
6. The method according to claim 5, wherein the fifth profile is a monotonic non-decreasing function profile, and the acceleration in the third pressure interval is smaller than the acceleration in the second pressure interval.
7. The method of claim 3, further comprising:
if the current pressure value is larger than the right endpoint pressure value of the second pressure interval, determining the acceleration value corresponding to the right endpoint pressure value of the second pressure interval as a target acceleration value according to the fourth variation curve;
determining the speed corresponding to the endpoint pressure value on the right side of the second pressure interval as a target speed according to the second variation curve;
and controlling the mechanical arm to reach the target speed based on the target acceleration value, and keeping the target speed to move.
8. An apparatus for controlling motion of a robot arm, the apparatus comprising:
the current pressure value acquisition module is used for acquiring a current pressure value in a mechanical arm pre-set force area detected by the pressure sensor;
a target speed determining module, configured to determine, if the current pressure value belongs to a first pressure interval or a second pressure interval, a target speed corresponding to the current pressure value according to a first change curve of speed with pressure in the first pressure interval or a second change curve of speed with pressure in the second pressure interval; the first pressure interval is an interval containing a zero drift value of the pressure sensor; the second pressure interval is a right adjacent interval of the first pressure interval, and the speeds in the first pressure interval are both greater than 0 and less than the speed in the second pressure interval;
and the control module is used for controlling the mechanical arm to move according to the target speed.
9. A controller, comprising: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus;
the memory is used for storing at least one executable instruction, and the executable instruction causes the processor to execute the operation corresponding to the mechanical arm motion control method according to any one of claims 1-7.
10. A computer storage medium, characterized in that a computer program is stored thereon, which when executed by a processor implements the robot arm motion control method according to any one of claims 1-7.
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| CN115990883A (en) * | 2023-01-12 | 2023-04-21 | 之江实验室 | Robot control method and device |
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| CN113442143B (en) | 2021-11-19 |
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