CN113459093B - Impedance control method of polishing robot - Google Patents

Impedance control method of polishing robot Download PDF

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CN113459093B
CN113459093B CN202110691022.7A CN202110691022A CN113459093B CN 113459093 B CN113459093 B CN 113459093B CN 202110691022 A CN202110691022 A CN 202110691022A CN 113459093 B CN113459093 B CN 113459093B
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robot
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CN113459093A (en
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马跃
王兴
刘祺
李彬
张冕
刘振忠
吴红叶
唐秀洋
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Tianjin University of Technology
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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
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B25J11/0065—Polishing or grinding
    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed

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  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Evolutionary Computation (AREA)
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  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
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  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)

Abstract

The invention discloses an impedance control method of a polishing robot, belonging to the field of robot motion control and comprising the following steps of S1, calculating and controlling an input signal; s2, calculating the positionThe loop compensation signals delta theta and delta theta are compensated to position loops of all driving joint control systems, added with joint position following errors and jointly used as input instructions of a position loop controller, and sent to a speed closed loop as expected speeds after being controlled and output; s3, calculating a speed loop compensation signal
Figure DDA0003126167620000011
Figure DDA0003126167620000012
And compensating the speed loop of each driving joint control system, adding the speed loop and joint speed following errors to be used as an input command of a speed loop controller together, and sending the input command to a controlled object as expected torque after control output. The invention can adaptively adjust the compensation signals of the position ring and the speed ring according to the set contact rigidity and damping, thereby improving the polishing quality and the polishing efficiency.

Description

Impedance control method of polishing robot
Technical Field
The invention belongs to the field of robot motion control, and relates to an impedance control method of a polishing robot.
Background
With the continuous improvement of the demand of people for materials, the updating speed of products in industries such as electronic products, automobiles and the like is accelerated, so that the production cycle of the corresponding concave curved surface of one product is shorter and shorter. In order to improve the market competitiveness of enterprises, the requirements on product quality and the shortening of the curved surface production period must be both considered. Therefore, the grinding and polishing technology is attracting attention and widely used as a main method for improving the quality of the curved surface. At present, grinding and polishing of a curved surface of a cavity are mainly finished manually, and the low efficiency of the grinding and polishing is difficult to meet the requirements of large demand and high updating speed of a curved surface product; meanwhile, due to the multiple changes of the working environment of the robot, the polishing disk at the tail end of the robot is required to have the capabilities of self-regulation and self-adaptation, and no mature control method exists in the current market, so that the processing requirements are met.
Disclosure of Invention
This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. In this section, as well as in the abstract and the title of the invention of this application, simplifications or omissions may be made to avoid obscuring the purpose of the section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the invention.
The present invention has been made in view of the above problems occurring in the description of the related art, and it is therefore an object of the present invention to provide an impedance control method of a polishing robot, which can adaptively adjust compensation signals of a position ring and a velocity ring according to a set contact stiffness and damping, thereby improving polishing quality and polishing efficiency.
In order to solve the technical problems, the invention adopts the technical scheme that: an impedance control method of a polishing robot includes the steps of,
s1, calculating a control input signal;
measuring six-dimensional contact force vectors between the robot end effector and the polished workpiece,
F a ＝(f X f Y f Z τ A τ B τ C ) T
in the formula (f) X 、f Y 、f Z Respectively representing the contact forces, tau, in the directions of the X, Y, Z axes of the robot tool coordinate system A 、τ B 、τ C Respectively representing contact moments around the X, Y and Z axis directions;
desired force vector F to be set according to process requirements d And F a And comparing the difference value delta F with the control input signal,
ΔF＝F d -F a
s2, calculating a position loop compensation signal delta theta;
the contact model between the robot end effector and the polished workpiece is equivalent to a spring system, the displacement compensation quantity delta X of the end effector is calculated according to the control input signal delta F,
ΔX＝K P ·ΔF
wherein Δ X = (Δ X Δ Y Δ Z Δ a Δ B Δ C) T Representing a vector consisting of the compensation of displacements in/around the X, Y, Z axes of the tool coordinate system, K P ＝diag[K X K Y K Z K A K B K C ]Representing a stiffness matrix consisting of contact stiffness coefficients along/around the X, Y, Z axes of the tool coordinate system,
a position loop compensation signal delta theta is calculated,
Δθ＝J -1 ·ΔX
in the formula, J -1 A Jacobian matrix representing a series-parallel polishing robot, Δ θ = (Δ θ =) 1 Δθ 2 Δθ 3 Δθ 4 Δθ 5 Δθ 6 ) T Representing each drive joint position loop compensation signal;
s3, calculating a speed loop compensation signal
Figure RE-GDA0003188315960000021
The contact model between the robot end effector and the polished workpiece is equivalent to a damping system, and the speed compensation quantity of the end effector is calculated according to the control input signal delta F
Figure RE-GDA0003188315960000022
Figure RE-GDA0003188315960000023
In the formula (I), the compound is shown in the specification,
Figure RE-GDA0003188315960000024
the representation being compensated by velocity along/around the X, Y, Z axes of the tool coordinate systemVector of quantity components, B V ＝diag[B X B Y B Z B A B B B C ]Representing a damping matrix consisting of contact damping coefficients along/around the X, Y, Z axes of the tool coordinate system,
calculating velocity loop compensation signals
Figure RE-GDA0003188315960000025
Figure RE-GDA0003188315960000026
In the formula, J -1 A Jacobian matrix representing the hybrid polishing robot,
Figure RE-GDA0003188315960000027
representing the velocity loop compensation signal for each drive joint.
Further, in step S1, the robot is a hybrid polishing robot, and a force sensor is disposed on an end effector of the hybrid polishing robot for measuring a six-dimensional contact force vector between the end effector of the robot and a workpiece to be polished.
And further, compensating the compensation signal delta theta obtained by calculation in the step 2 to position loops of each driving joint control system, adding the compensation signal delta theta and joint position following errors to be used as input instructions of a position loop controller together, outputting the input instructions through control, and sending the output instructions to a speed closed loop as expected speed, wherein the joint position following errors are differences between the expected positions and actual positions.
Further, the compensation signal obtained by the calculation in the step 3 is used
Figure RE-GDA0003188315960000032
And compensating the speed loop of each driving joint control system, adding the speed loop and joint speed following errors to be used as an input command of a speed loop controller together, and sending the input command to a controlled object as an expected torque after control output, wherein the joint speed following errors are the difference between the expected speed and the actual speed.
Compared with the prior art, the invention has the following advantages and positive effects.
1. The invention can input compensation signals to the position ring and the speed ring respectively so as to improve the polishing quality of the polishing robot, adopts a method of disassembling and expressing a servo system, takes the contact rigidity and the damping moment in the polishing operation into consideration, and inputs the compensation signals delta theta and delta theta to the position ring and the speed ring respectively
Figure RE-GDA0003188315960000031
To control the contact state of the actuator of the polishing robot and the polished workpiece;
2. the invention can adaptively adjust the compensation signals of the position ring and the speed ring according to the set contact rigidity and damping, thereby improving the polishing quality and the polishing efficiency.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive labor.
Fig. 1 is a schematic structural layout diagram of an impedance control method of a polishing robot according to the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, embodiments accompanying figures are described in detail below.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Next, the present invention is described in detail with reference to the drawings, and in the detailed description of the embodiments of the present invention, the cross-sectional views illustrating the device structures are not enlarged partially according to the general scale for convenience of illustration, and the drawings are only exemplary, which should not limit the scope of the present invention. In addition, the three-dimensional space dimensions including length, width and depth should be included in the actual manufacturing
Again, it should be noted that the embodiments and features of the embodiments of the present invention may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
In order to make the objects, technical solutions and advantages of the present invention more apparent, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.
As shown in fig. 1, an impedance control method of a polishing robot includes the steps of,
s1, calculating a control input signal;
measuring six-dimensional contact force vectors between the robot end effector and the polished workpiece,
F a ＝(f X f Y f Z τ A τ B τ C ) T
in the formula, f X 、f Y 、f Z Respectively representing contact forces, tau, in the directions of the X, Y, Z axes of the robot tool coordinate system A 、τ B 、τ C Respectively representing contact moments around the X, Y and Z axis directions;
desired force vector F to be set according to process requirements d And F a Compared with the control input signal, the difference value delta F is the control input signal,
ΔF＝F d -F a
s2, calculating a position loop compensation signal delta theta;
the contact model between the robot end effector and the polished workpiece is equivalent to a spring system, the displacement compensation quantity delta X of the end effector is calculated according to the control input signal delta F,
ΔX＝K P ·ΔF
wherein Δ X = (Δ X Δ Y Δ Z Δ A Δ B Δ C) T Representing a vector consisting of displacement compensation along/around the X, Y, Z axes of the tool coordinate system, K P ＝diag[K X K Y K Z K A K B K C ]Representing a stiffness matrix consisting of contact stiffness coefficients along/around the X, Y, Z axes of the tool coordinate system.
A position loop compensation signal delta theta is calculated,
Δθ＝J -1 ·ΔX
in the formula, J -1 A Jacobian matrix representing a series-parallel polishing robot, Δ θ = (Δ θ =) 1 Δθ 2 Δθ 3 Δθ 4 Δθ 5 Δθ 6 ) T Representing each drive joint position loop compensation signal;
s3, calculating a speed loop compensation signal
Figure RE-GDA0003188315960000051
The contact model between the robot end effector and the polished workpiece is equivalent to a damping system, and the speed compensation quantity of the end effector is calculated according to the control input signal delta F
Figure RE-GDA0003188315960000052
Figure RE-GDA0003188315960000053
In the formula (I), the compound is shown in the specification,
Figure RE-GDA0003188315960000054
representing a vector consisting of compensation of velocity along/around the X, Y, Z axes of the tool coordinate system, B V ＝diag[B X B Y B Z B A B B B C ]Representing a damping matrix consisting of contact damping coefficients along/around the X, Y, Z axes of the tool coordinate system,
calculating velocity loop compensation signals
Figure RE-GDA0003188315960000055
Figure RE-GDA0003188315960000056
In the formula, J -1 A Jacobian matrix representing the series-parallel polishing robot,
Figure RE-GDA0003188315960000057
representing the respective drive joint velocity loop compensation signal.
Preferably, in step S1, the robot is a hybrid polishing robot, and a force sensor is disposed on an end effector of the hybrid polishing robot for measuring a six-dimensional contact force vector between the robot end effector and a workpiece to be polished.
In FIG. 1, θ d Expressed as the desired position, theta, set according to the process requirements a Expressed as the actual position, B, output after the controller parameter is set V Representing a damping matrix consisting of contact damping coefficients along/around the X, Y, Z axes of the tool coordinate system, K P Representing a stiffness matrix consisting of contact stiffness coefficients along/around the X, Y, Z axes of the tool coordinate system.
Preferably, the compensation signal Δ θ calculated in step 2 is compensated to each position loop of the driving joint control system, and is added with a joint position following error, and the added compensation signal Δ θ is used as an input command of a position loop controller, and is sent to a speed closed loop as a desired speed after being controlled and output, wherein the joint position following error is a difference value between a desired position and an actual position.
Preferably, the compensation signal calculated in step 3 is used
Figure RE-GDA0003188315960000061
Compensating to each driving joint control system speed ring, adding the speed ring and joint speed following errors to be used as input instructions of a speed ring controller together, outputting the input instructions after control, and sending the output instructions to a controlled object as expected torque, wherein the joint speed following errors are the difference value between the expected speed and the actual speed.
The method for disassembling and expressing the servo system is adopted, the contact rigidity and the damping torque during polishing operation are taken into consideration, firstly, the input signal delta F is acquired through the force sensor, then, the contact model between the robot end effector and the polished workpiece is equivalent to be a spring damping model, and the displacement compensation delta X and the speed compensation are obtained
Figure RE-GDA0003188315960000062
Then the formula delta theta = J -1 Δ X and
Figure RE-GDA0003188315960000063
respectively calculate position loop compensationCompensation signal delta theta and velocity loop compensation signal
Figure RE-GDA0003188315960000064
Finally, compensating the position ring of each driving joint control system through the calculated delta theta, and sending the position ring to a speed closed ring as an expected speed after control output; calculated to obtain
Figure RE-GDA0003188315960000065
The speed loop compensated to each driving joint control system is also sent to a controlled object as expected torque after being controlled and output.
It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.

Claims (3)

1. An impedance control method of a polishing robot, characterized in that: comprises the following steps of (a) preparing a solution,
s1, calculating a control input signal;
measuring six-dimensional contact force vectors between the robot end effector and the polished workpiece,
F a ＝(f X f Y f Z τ A τ B τ C ) T
in the formula (f) X 、f Y 、f Z Respectively representing the contact forces, tau, in the directions of the X, Y, Z axes of the robot tool coordinate system A 、τ B 、τ C Respectively representing contact moments around the X, Y and Z axis directions;
desired force vector F to be set according to process requirements d And F a And comparing the difference value delta F with the control input signal,
ΔF＝F d -F a
s2, calculating a position loop compensation signal delta theta;
the contact model between the robot end effector and the polished workpiece is equivalent to a spring system, the displacement compensation quantity delta X of the end effector is calculated according to the control input signal delta F,
ΔX＝K P ·ΔF
wherein Δ X = (Δ X Δ Y Δ Z Δ a Δ B Δ C) T Representing a vector consisting of the compensation of displacements in/around the X, Y, Z axes of the tool coordinate system, K P ＝diag[K X K Y K Z K A K B K C ]Representing a stiffness matrix consisting of contact stiffness coefficients along/around the X, Y, Z axes of the tool coordinate system,
a position loop compensation signal delta theta is calculated,
Δθ＝J -1 ·ΔX
in the formula, J -1 A Jacobian matrix representing a series-parallel polishing robot, Δ θ = (Δ θ =) 1 Δθ 2 Δθ 3 Δθ 4 Δθ 5 Δθ 6 ) T Representing the compensation signals of the position ring of each driving joint;
compensating the compensation signal delta theta obtained by calculation in the step 2 to position rings of each driving joint control system, adding the compensation signal delta theta with joint position following errors to be used as input instructions of a position ring controller together, controlling and outputting the input instructions through the position ring controller, and sending the input instructions to a speed closed loop as expected speed, wherein the joint position following errors are differences between the expected position and the actual position;
s3, calculating a speed loop compensation signal
Figure FDA0003829052510000011
The contact model between the robot end effector and the polished workpiece is equivalent to a damping system, and the speed compensation quantity of the end effector is calculated according to the control input signal delta F
Figure FDA0003829052510000012
Figure FDA0003829052510000013
In the formula (I), the compound is shown in the specification,
Figure FDA0003829052510000014
representing a vector consisting of speed compensation along/around the X, Y, Z axes of the tool coordinate system, B V ＝diag[B X B Y B Z B A B B B C ]Representing a damping matrix consisting of contact damping coefficients along/around the X, Y, Z axes of the tool coordinate system,
calculating velocity loop compensation signals
Figure FDA0003829052510000021
Figure FDA0003829052510000022
In the formula, J -1 A Jacobian matrix representing the hybrid polishing robot,
Figure FDA0003829052510000023
representing the compensation signal of each driving joint speed ring;
the compensation signal obtained by the calculation in the step 3
Figure FDA0003829052510000024
Compensating to each driving joint control system speed ring, adding the speed ring and joint speed following errors to be used as input instructions of a speed ring controller together, and sending the input instructions to a controlled object as expected torque after being controlled and output by the speed ring controller, wherein the joint speed following errors are the difference value between the expected speed and the actual speed;
according to the signal transmission direction, the device comprises a control system position ring, a position ring controller, a control system speed ring, a speed ring controller, a controlled object and an integration module which are electrically connected in sequence, wherein the control system position ring is electrically connected with the control system speed ring through a feedforward controller; the output end of the controlled object feeds back a signal to the speed loop of the control system to form a speed closed loop; the output feedback signal of the integral module forms a position closed loop to the position loop of the control system.
2. The impedance control method of a polishing robot according to claim 1, wherein: in step S1, the robot is a series-parallel polishing robot, and a force sensor is arranged on an end effector of the series-parallel polishing robot for measuring a six-dimensional contact force vector between the end effector of the robot and a workpiece to be polished.
3. The impedance control method of a polishing robot according to claim 1, wherein: the method of disassembling the servo system is adopted to take the contact rigidity and damping moment into consideration during polishing operation.
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