CN113771031B - Robot self-adaptive speed regulation method and multi-joint robot - Google Patents
Robot self-adaptive speed regulation method and multi-joint robot Download PDFInfo
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- CN113771031B CN113771031B CN202111041037.5A CN202111041037A CN113771031B CN 113771031 B CN113771031 B CN 113771031B CN 202111041037 A CN202111041037 A CN 202111041037A CN 113771031 B CN113771031 B CN 113771031B
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- 238000000034 method Methods 0.000 title claims abstract description 62
- 230000008569 process Effects 0.000 claims abstract description 35
- 230000008859 change Effects 0.000 claims description 14
- 210000002310 elbow joint Anatomy 0.000 claims description 7
- 230000001133 acceleration Effects 0.000 claims description 6
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- 230000003044 adaptive effect Effects 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 41
- 230000006870 function Effects 0.000 description 9
- 210000001503 joint Anatomy 0.000 description 8
- 230000001105 regulatory effect Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000004590 computer program Methods 0.000 description 2
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Classifications
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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
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Abstract
The application provides a robot self-adaptive speed regulation method and a multi-joint robot, wherein the method comprises the steps of setting safety parameters of the robot; detecting an operation value of a specific parameter in the operation process, comparing the operation value with a safety parameter, and triggering the robot to regulate the speed in real time when the operation value exceeds the safety parameter; the robot real-time speed regulation includes: determining a target value of a specific parameter, wherein the target value is smaller than or equal to the safety parameter, and determining a speed regulation output percentage according to the ratio of the target value and an operation value; and planning the position command increment of the robot in each operation period according to the speed regulation output percentage to adjust the operation value of the specific parameter, wherein the total quantity of the position command increment sent by the robot before and after speed regulation is consistent. The beneficial effects of the specific embodiment of the application are as follows: when the robot triggers speed regulation, speed regulation is carried out according to the mode of planning position command increment, and the running track of the robot before and after speed regulation is kept unchanged.
Description
Technical Field
The application belongs to the field of industrial robots, and particularly relates to a robot self-adaptive speed regulation method and a multi-joint robot.
Background
China is a large manufacturing country, along with the degradation of population bonus, the traditional labor-intensive production mode is difficult to be continuous, the machine replacement is imperative, and the enterprise changes into the main development direction from automatic production upgrading. The industrial robot field includes traditional industrial robot and cooperation robot, and traditional industrial robot is applied to and replaces manual operation in the industrial environment, and novel cooperation robot is mainly used to optimize on existing production line overall arrangement, and the cooperation work of people and machine of being convenient for makes its operational scenario put forward higher requirement to performances such as security, portability.
In order to ensure the operation safety of the cooperative robots, the cooperative robots generally have more safety parameter limiting operation conditions, and the robot operation conditions can trigger sudden stop if the safety parameters are not met. The robot can teach before executing work, expects the robot to follow the predetermined orbit operation, but even when the robot all satisfies the requirement when teaching, probably because some special point positions lead to the overspeed alarm in actual motion, the robot suddenly stops the motion and can cause great motion impact to the organism.
In the traditional mode, when the robot is triggered to regulate speed, corresponding motion planning is carried out according to motion parameters at the triggering time, and the motion planning is carried out again in the motion process of the robot, so that the original moving path of the robot is deviated and cannot perfectly follow the originally set preset track, and the control precision is possibly affected.
Disclosure of Invention
The application aims to provide a robot self-adaptive speed regulation method and a multi-joint robot, which are used for solving the problems that in the prior art, the robot is suddenly stopped under abnormal conditions to influence the stability of the robot work, and the speed of the robot is changed through motion planning in the motion process of the robot to influence the robot to follow a preset track.
In order to achieve the above object, the present application may adopt the following technical scheme: a robot adaptive speed regulation method, the robot being capable of running according to a predetermined trajectory set by a teaching process to perform a work task, the process of the robot performing the predetermined trajectory consisting of a plurality of running cycles, the method comprising: setting safety parameters of the robot, wherein the safety parameters limit the maximum operation value of specific parameters in the operation process of the robot; detecting an operation value of a specific parameter in the operation process, comparing the operation value with a safety parameter, and triggering the robot to regulate speed in real time to reduce speed when the operation value exceeds the safety parameter; the robot real-time speed regulation includes: determining a target value of a specific parameter, wherein the target value is smaller than or equal to the safety parameter, and determining a speed regulation output percentage according to the ratio of the target value and an operation value; and planning the position command increment of each operation period of the robot according to the speed regulation output percentage to adjust the operation value of a specific parameter, wherein the total amount of the position commands sent by the robot before and after speed regulation is consistent.
Further, when the running value is smaller than the safety parameter, detecting whether the safety parameter of the robot changes, and if the safety parameter is detected to be increased, triggering the robot to regulate the speed in real time to increase the speed.
Further, the robot has a normal operation mode and a reduced mode, the safety parameter in the normal operation mode being greater than the safety parameter in the reduced mode, the method comprising: when the running value is smaller than the current safety parameter, detecting whether mode switching occurs, and triggering the robot to regulate speed in real time to increase the speed when detecting that the robot is switched from the reduced mode to the normal running mode.
Further, the robot comprises a base, a connecting rod and a plurality of joints, wherein the joints connecting the two longer connecting rods are elbow joints, the tail end of the robot is used for connecting a working tool, the specific parameters comprise at least part of elbow speeds, joint speeds and tail end tool speeds, and the safety parameters comprise at least part of the maximum elbow speeds of the robot, the maximum joint speeds of the joints and the maximum tail end tool speeds.
Further, according to the speed regulation output percentage, planning the position command increment of each operation period to adjust the operation value of the specific parameter includes:
and planning the speed regulation period length according to the speed regulation output percentage, and splitting the position command increment of each running period according to the speed regulation period length and the planned position command total before speed regulation.
Further, the robot detects at least two specific parameters, and when the running values of at least two specific parameters exceed the safety parameters, a smaller value is selected according to the ratio of the target value and the running value of each specific parameter to be determined as the speed regulation output percentage.
Further, the planning the position command increment of each operation period includes: and (3) planning the speed change trend of the robot into an S-shaped curve by calling an S-shaped acceleration and deceleration function or a seven-degree polynomial speed regulation function, and planning the position command increment of each running period according to the speed change trend.
The application can also adopt the following technical scheme: a multi-joint robot including a base, a link, and a plurality of joints, the robot being capable of running according to a predetermined trajectory set by a teaching process to perform a work task, the process of the robot performing the predetermined trajectory consisting of a plurality of running cycles, the robot comprising: the setting module is used for setting safety parameters of the robot, and the safety parameters limit the maximum operation value of the specific parameters in the operation process of the robot; the speed regulation module is used for detecting the operation value of a specific parameter in the operation process, comparing the operation value with the safety parameter, and triggering the robot to regulate speed in real time to reduce speed when the operation parameter exceeds the safety parameter; the real-time speed regulation of the robot comprises the steps of determining a target value of a specific parameter, wherein the target value is smaller than or equal to a safety parameter, and determining a speed regulation output percentage according to the ratio of the target value to an operation value; and planning the position command increment of each operation period of the robot according to the speed regulation output percentage to adjust the operation value of a specific parameter, wherein the total amount of position commands sent by the robot before and after speed regulation is consistent.
Further, the speed regulation module is used for detecting whether the safety parameters of the robot change or not when the running value is smaller than the safety parameters, and triggering the robot to regulate speed in real time to increase the speed if the safety parameters are detected to increase.
Further, the robot is provided with a normal operation mode and a reduced mode, the safety parameter in the normal operation mode is larger than the safety parameter in the reduced mode, and the speed regulating module is used for detecting whether mode switching occurs currently or not when the operation value is smaller than the current safety parameter, and triggering the robot to regulate speed in real time to increase the speed when the robot is detected to switch from the reduced mode to the normal operation mode.
Further, the speed regulation module is used for planning the speed regulation period length according to the speed regulation output percentage, and splitting the position command increment of each running period according to the speed regulation period length and the planned position command total before speed regulation.
Further, the planning the position command increment of each operation period includes: and (3) planning the speed change trend of the robot into an S-shaped curve by calling an S-shaped acceleration and deceleration function or a seven-degree polynomial speed regulation function, and planning the position command increment of each running period according to the speed change trend.
Compared with the prior art, the beneficial effects of the specific embodiment of the application are as follows: according to the scheme, the running value of the specific parameter is monitored in real time in the running process of the robot, when the running value exceeds the safety parameter or meets other preset conditions, the real-time speed regulation of the robot is triggered, and the safety in the running process of the robot is ensured. Meanwhile, a method of planning position command increment is adopted, joint increment of each movement period of the robot is split according to the preset path planning of the robot, the planning of the robot in an initial state is not changed, and the robot can be ensured to move along a preset track before and after speed regulation.
Drawings
FIG. 1 is a schematic diagram of a speed regulating method according to an embodiment of the application
FIG. 2 is a schematic view of a robot according to one embodiment of the application
FIG. 3 is a schematic diagram of a speed regulating method according to another embodiment of the application
FIG. 4 is a schematic diagram of a speed regulating method according to another embodiment of the application
FIG. 5 is a block diagram of an articulated robot according to an embodiment of the application
Detailed Description
In order to make the technical solution of the present application more clear, embodiments of the present application will be described below with reference to the accompanying drawings. It should be understood that the detailed description of the embodiments is merely intended to teach a person skilled in the art how to practice the application, and is not intended to be exhaustive of all the possible ways of implementing the application, but rather to limit the scope of the application in its specific implementations. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
The application provides a robot self-adaptive speed regulating method, referring to fig. 1, fig. 1 is a schematic diagram of a robot self-adaptive speed regulating method according to a specific embodiment of the application, before the robot is used, a teaching program is set by a demonstrator, a tablet computer and other devices, the robot can run according to a preset track set in the teaching process to execute a work task, and the process of executing the preset track by the robot comprises a plurality of running periods, and the method comprises the following steps: s1, setting safety parameters of a robot, wherein the safety parameters limit the maximum operation value of specific parameters in the operation process of the robot; s2, detecting an operation value of a specific parameter in the operation process, comparing the operation value with a safety parameter, and triggering the robot to regulate speed in real time to reduce speed when the operation value exceeds the safety parameter.
Fig. 2 is a schematic view of a robot according to an embodiment of the present application, wherein the robot 100 includes a base 30, a link 40, and a plurality of joints 20, and the joints 20 serve as connectors for connecting adjacent components of the robot 100, wherein the elbow joints 21 connect the longer two links 40, i.e., the elbow joints 21 connect the first long and the second long links of the robot, so that the movement range of the elbow joints 21 is large, and the robot end is used for connecting a work tool 300, for example, the robot end includes a tool flange 50 to connect the specific work tool 300 to perform gripping or the like. Specifically, the specific parameters include at least part of elbow speed, joint speed and end tool speed, and the corresponding safety parameters include at least part of maximum elbow speed, joint speed and end tool speed of the robot. Wherein the elbow speed represents the translational speed of the elbow joint and the joint speed represents the rotational speed of the joint.
Specifically, the real-time speed regulation of the robot comprises: determining a target value of a specific parameter, wherein the target value is smaller than or equal to the safety parameter, and determining a speed regulation output percentage according to the ratio of the target value and an operation value; and planning the position command increment of each operation period of the robot according to the speed regulation output percentage to adjust the operation value of the specific parameter, wherein the total amount of position commands sent by the robot before and after speed regulation is consistent. And selecting a target value smaller than or equal to the safety parameter, wherein the running value of the specific parameter after the speed regulation of the robot is smaller than or equal to the safety parameter. And adjusting the speed of the robot according to the number of the planned position commands, wherein the original motion plan of the robot is not changed, and the total quantity of the sent position commands is the same when the robot adjusts the speed before and after adjusting the speed, so that the robot always moves along a preset track.
Optionally, before executing real-time speed regulation, the planning data of the robot further needs to be acquired, where the planning data of the robot includes a planning path, a planning speed, a planning period and a planning position command increment, optionally, the robot includes a planning layer to plan the above parameters before the robot executes work, and the planning position command increment is a position command increment corresponding to each planning period in the process that the robot completes the planning path at the planning speed. The motion points of a set of path motion parameters (comprising acceleration a, speed v, transfer radius r and the like) matched with teaching can correspond to a set of robot motion paths, wherein the motion paths are planning paths, the speeds in the motion parameters are planning speeds, and the planning period can be the motion period of the robot; if the robot calculates the pose of one operation in 1ms, the planning period is 1ms, and the planned position instruction increment is the position instruction increment output by the robot every 1ms in the process of completing the path planning at the planning speed. In general, when a robot is subjected to speed regulation, motion planning is performed according to known path points and different motion parameters, so that deviation of a motion path can be caused, meanwhile, the real-time motion planning process of the robot can also cause high complexity of the motion planning itself, and interference is easily generated to execution of other algorithms of the robot. In the scheme, when the robot is used for speed regulation, the position command increment of a motion period is changed through the known motion planning, so that the operation amount is small, and the original motion planning of the robot is not changed. For example, the robot comprises a planning layer and a sending layer, the planning layer plans various parameters of the robot before the robot operates, the sending layer receives the various parameters planned by the planning layer, when the speed needs to be adjusted in the operation process of the robot, the sending layer adjusts the position command increment of each operation period of the planned operation period, the position command increment of each operation period of the robot corresponds to the rotation angle of a joint of each operation period, the operation speed is adjusted, and the adjustment process does not affect other software or algorithm functions of the robot executed by the planning layer. Further, referring to fig. 3, the method includes: and S3, detecting whether the safety parameters of the robot change or not when the running value is smaller than the safety parameters, and triggering the robot to regulate the speed in real time to increase the speed if the safety parameters are detected to be increased. When the operation value is detected to be smaller than the safety parameter, the robot does not trigger real-time speed regulation, at this time, if the safety parameter is detected to be increased, the safety parameter condition change is indicated, and at this time, the operation value of the robot can be properly increased to improve the operation efficiency of the robot, so that when the safety parameter is detected to be increased, the robot is triggered to regulate the speed in real time to increase the speed.
Alternatively, in another specific embodiment, the robot has a normal operation mode and a reduced mode, the safety parameter in the normal mode is larger than the safety parameter in the reduced mode, i.e. an environment with more stringent requirements on the safety of the robot, for example, when manual operation occurs simultaneously in the robot working environment, the robot is switched from the normal operation mode to the reduced mode, and vice versa. Referring to fig. 4, the method includes: and S4, when the running value is smaller than the current safety parameter, detecting whether mode switching occurs currently, and triggering the robot to regulate speed in real time to increase the speed when detecting that the robot is switched from the reduced mode to the normal running mode. It can be understood that no matter the safety parameters of the robot are actively changed, or the running mode of the robot is changed to cause the safety parameters to be changed, when the safety parameters of the robot are changed, the robot can automatically update the safety parameters in time, so that the running value of a specific parameter can be compared with the latest safety parameters, and the accuracy of safety judgment is ensured.
In this embodiment, according to the speed regulation output percentage, the step of planning the position command increment of each operation period to adjust the operation value of the specific parameter includes: and planning the speed regulation period length according to the speed regulation output percentage, and splitting the position command increment of each running period according to the speed regulation period length and the position command total quantity before speed regulation. Furthermore, the speed change trend of the robot can be planned into an S-shaped change curve by calling an S-shaped acceleration and deceleration function or a seven-degree polynomial speed regulation function, and the position command increment of each running period is planned according to the speed change trend.
The position command includes a variety of forms, and in one particular embodiment, the position command is formed as a pulse signal,according to a specific implementation, in a once determined motion planning, assuming T is the total planning duration for executing the predetermined trajectory and Period is the length of one operation Period, the total number of motion periods that the robot will operate isThe robot is set as a six-axis robot, the pulse number of each motion period is determined after the motion planning is carried out before the robot operates, and the pulse number is respectively q 1i 、q 2i 、q 3i 、q 4i 、q 5i 、q 6i (i=0, 1,2,) and N. Based on the determined number of motion periods N, and the pulse increment q of each motion period 1i 、q 2i 、q 3i 、q 4i 、q 5i 、q 6i (i=0, 1,2,) N, scaling the movement period to N according to the governor output percentage P ′ Proportionally adjusting pulse increment per period to q ′ 1i 、q′ 2i 、q ′ 3i 、q ′ 4i 、q ′ 5i 、q ′ 6i (i＝0,1,2,......,N ′ ) The purpose of speed regulation is realized, and the total amount of pulses before and after speed regulation is the same, namely the total amount of joint movement is the same.
The speed regulation percentage and the position command increment have a corresponding relation, and for the condition of determining the motion planning, the position command increment of each motion period is split and scaled according to the known speed regulation output percentage, and the split and scaled proportion is the speed regulation output percentage. In this embodiment, for a validated motion plan, the pulse increment per cycle is q 1i 、q 2i 、q 3i 、q 4i 、q 5i 、q 6i (i=0, 1,2,) N, at a certain transmission period, the planned period duration is T Period Wherein T is Period Take the value of 0 to 1 interpolation period, T Period The ratio of the interpolation period to the interpolation period is delta, and the pulse increment is q 1 、q 2 、q 3 、q 4 、q 5 、q 6 . Knowing the percentage of governor output as P%, the pulses for the current motion cycle are split into:
1 st:
the planning duration is 1 interpolation period.
2 nd:
the planning duration is 1 interpolation period. … …
Nth:
the planning duration is 1 interpolation period.
N+1th:
the total planning time length isAnd each interpolation period. Wherein n is, let->Is the largest positive integer of (2); if->n is 0, < >>
For N movement periods, the speed of the robot can finally meet the speed regulation requirement of the speed regulation output percentage only by continuously splitting the pulse increment of each period of the planning according to the rule.
In a specific embodiment, the robot may detect the running values of a plurality of specific parameters at the same time, and when at least two running values of the specific parameters exceed the safety parameters, a smaller value is selected according to the ratio of the target value and the running value of each specific parameter to determine as the speed regulation output percentage. So as to ensure that the running value of each specific parameter can meet the requirement of the corresponding safety parameter when the speed regulation is finished. The beneficial effects of the above preferred embodiment are: the running value of the specific parameter detected by the robot is compared with the safety parameter, so that the running value does not exceed the safety parameter to ensure the working safety of the robot. When the condition of triggering speed regulation is reached, the position command increment of each running period is determined based on the original motion planning of the robot, and the position command increment of each running period is split again, so that the motion track of the robot is unchanged before and after the speed regulation process of the robot.
The present application also protects a multi-joint robot, referring to fig. 2, the multi-joint robot 100 includes a base 30, a link 40, and a plurality of joints 20, the robot 100 is capable of running according to a predetermined trajectory set by a teaching process to perform a work task, the process of the robot to perform the predetermined trajectory is composed of a plurality of running cycles, for example, the robot needs 2 minutes to perform the predetermined trajectory, wherein each running cycle is 1ms, referring to fig. 5, the robot 100 includes a setting module 1 and a speed regulation module 2, the setting module 1 is used for setting a safety parameter of the robot, the safety parameter limits a maximum running value of a specific parameter during the running of the robot, the speed regulation module 2 detects the running value of the specific parameter during each running cycle, compares the running value with the safety parameter, and triggers the real-time speed regulation of the robot to slow down when the running parameter exceeds the safety parameter. The real-time speed regulation of the robot comprises the steps of determining a target value of a specific parameter, wherein the target value is smaller than or equal to a safety parameter, and determining a speed regulation output percentage according to the ratio of the target value to an operation value; and planning the position command increment of each operation period of the robot according to the speed regulation output percentage to adjust the operation value of a specific parameter, wherein the total amount of position commands sent by the robot before and after speed regulation is consistent. Therefore, the robot can ensure that the running value of the specific parameter is within the range defined by the safety parameter, thereby ensuring the running safety of the robot.
In a specific embodiment, the speed regulation module 2 is configured to: and when the running value is smaller than the safety parameter, detecting whether the safety parameter of the robot changes, and if the safety parameter is detected to be increased, triggering the robot to regulate the speed in real time so as to increase the speed. In one other embodiment, the robot has a normal operation mode and a reduced mode, the safety parameter in the normal operation mode is greater than the safety parameter in the reduced mode, the speed regulating module 2 is used for detecting whether the mode switching currently occurs when the operation value is smaller than the current safety parameter, and triggering the robot to regulate speed in real time to increase the speed when the robot is detected to switch from the reduced mode to the normal operation mode. Therefore, when the safety parameters of the robot are changed, the running speed of the robot is properly increased when the safety parameters of the robot are increased, and the running efficiency of the robot is further ensured.
In accordance with the foregoing, the joints of the robot connecting the two longer links are elbow joints, the tail end of the robot is used for connecting a working tool, the specific parameters comprise at least part of elbow speed, joint speeds and tail end tool speed, and the safety parameters comprise at least part of maximum elbow speed of the robot, maximum joint speed of each joint and maximum tail end tool speed.
Specifically, when the robot detects the operation values of a plurality of specific parameters at the same time, when at least two operation values of the specific parameters exceed the safety parameters, a smaller value is selected according to the ratio of the target value and the operation value of each specific parameter to determine as the speed regulation output percentage, so that the operation values of all the specific parameters meet the requirements of the safety parameters when the speed regulation is completed.
Specifically, the speed regulation module 2 is configured to plan a speed regulation period length according to the speed regulation output percentage, and split a position command increment of each operation period according to the speed regulation period length and a planned position command total amount before speed regulation. Wherein the planning of the position command increment of each operation period comprises: and (3) planning the speed change trend of the robot into an S-shaped curve by calling an S-shaped acceleration and deceleration function or a seven-degree polynomial speed regulation function, and planning the position command increment of each running period according to the speed change trend. With respect to the multi-joint robot in the above-described embodiments, a specific manner in which each module performs an operation has been described in detail in the embodiments regarding the method, and will not be described in detail herein.
In an exemplary embodiment, the application also provides a computer readable storage medium storing a computer program, such as a memory storing a computer program, executable by a processor to perform a robot adaptive speed regulation method. Alternatively, the storage medium may be a non-transitory computer readable storage medium, which may be, for example, ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like.
Finally, it should be pointed out that the above description is merely illustrative and not exhaustive, and that the application is not limited to the embodiments disclosed, but that several improvements and modifications can be made by those skilled in the art without departing from the scope and spirit of the examples described above, which are also considered as being within the scope of the application. The scope of the application should therefore be pointed out in the appended claims.
Claims (8)
1. A robot adaptive speed regulation method, wherein a robot is capable of running according to a predetermined trajectory planned by a teaching process to perform a work task, characterized in that the process of performing the predetermined trajectory by the robot is composed of a plurality of running cycles, the method comprising:
setting safety parameters of the robot, wherein the safety parameters limit the maximum operation value of specific parameters in the operation process of the robot;
detecting an operation value of a specific parameter in the operation process, comparing the operation value with a safety parameter, and triggering the robot to regulate speed in real time to reduce speed when the operation value exceeds the safety parameter;
before real-time speed regulation is executed, planning data of the robot before executing work are obtained, wherein the planning data of the robot comprise a planning path, a planning speed, a planning period and a planning position command increment, and the planning position command increment is a position command increment corresponding to each planning period in the process that the robot completes the planning path at the planning speed;
the robot real-time speed regulation includes: determining a target value of a specific parameter, wherein the target value is smaller than or equal to the safety parameter, and determining a speed regulation output percentage according to the ratio of the target value and an operation value;
according to the speed regulation output percentage and the total position command before speed regulation, planning the position command increment of each operation period after the speed regulation of the robot to adjust the operation value of a specific parameter, wherein the total position command sent by the robot before and after the speed regulation is consistent;
according to the speed regulation output percentage and the position command total before speed regulation, planning the position command increment of the running period after the speed regulation of the robot to adjust the running value of the specific parameter comprises the following steps:
planning a speed regulation period length according to the speed regulation output percentage and the position command total quantity before speed regulation, and splitting the position command increment of each running period according to the speed regulation period length and the position command total quantity planned before speed regulation, wherein the ratio of the position command increment of each running period is the speed regulation output percentage;
the robot detects at least two specific parameters, and when the running values of at least two specific parameters exceed the safety parameters, a smaller value is selected according to the ratio of the target value and the running value of each specific parameter to be determined as the speed regulation output percentage.
2. The speed regulation method according to claim 1, wherein when the operation value is smaller than the safety parameter, whether the safety parameter of the robot is changed is detected, and if the safety parameter is detected to be increased, the robot is triggered to regulate speed in real time to increase speed.
3. The method of claim 1, wherein the robot has a normal mode of operation and a reduced mode, the safety parameter in the normal mode of operation being greater than the safety parameter in the reduced mode, the method comprising: when the running value is smaller than the current safety parameter, detecting whether mode switching occurs, and triggering the robot to regulate speed in real time to increase the speed when detecting that the robot is switched from the reduced mode to the normal running mode.
4. The method of claim 1, wherein the robot comprises a base, a link, and a plurality of joints, wherein the joints connecting the longer links are elbow joints, wherein the robot tip is used to connect the work tool, wherein the specific parameters include at least a portion of the elbow speed, each joint speed, and the tip tool speed, wherein the safety parameters include at least a portion of the maximum elbow speed, each joint maximum joint speed, and the maximum tip tool speed of the robot.
5. The method of claim 1, wherein the programming the position command increment for each run cycle comprises: and (3) planning the speed change trend of the robot into an S-shaped curve by calling an S-shaped acceleration and deceleration function or a seven-degree polynomial speed regulation function, and planning the position command increment of each running period according to the speed change trend.
6. A multi-joint robot comprising a base, a link and a plurality of joints, the robot being capable of running according to a predetermined trajectory planned by a teaching process to perform a work task, characterized in that the process of performing the predetermined trajectory by the robot consists of a plurality of run cycles, the robot comprising:
the setting module is used for setting safety parameters of the robot, and the safety parameters limit the maximum operation value of the specific parameters in the operation process of the robot;
the speed regulation module is used for detecting the operation value of a specific parameter in the operation process, comparing the operation value with the safety parameter, and triggering the robot to regulate speed in real time to reduce speed when the operation value exceeds the safety parameter;
before real-time speed regulation is executed, the robot acquires planning data before execution, wherein the planning data comprises a planning path, a planning speed, a planning period and a planning position command increment, and the planning position command increment is a position command increment corresponding to each planning period in the process that the robot completes the planning path at the planning speed;
the real-time speed regulation of the robot comprises the steps of determining a target value of a specific parameter, wherein the target value is smaller than or equal to a safety parameter, and determining a speed regulation output percentage according to the ratio of the target value to an operation value;
according to the speed regulation output percentage and the total position command before speed regulation, planning the position command increment of each running period after the speed regulation of the robot to adjust the running value of a specific parameter, wherein the total position command sent by the robot before and after the speed regulation is consistent;
according to the speed regulation output percentage and the position command total before speed regulation, planning the position command increment of the running period after the speed regulation of the robot to adjust the running value of the specific parameter comprises the following steps:
planning a speed regulation period length according to the speed regulation output percentage and the position command total quantity before speed regulation, and splitting the position command increment of each running period according to the speed regulation period length and the position command total quantity planned before speed regulation, wherein the ratio of the position command increment of each running period is the speed regulation output percentage;
the robot detects at least two specific parameters, and when the running values of at least two specific parameters exceed the safety parameters, a smaller value is selected according to the ratio of the target value and the running value of each specific parameter to be determined as the speed regulation output percentage.
7. The multi-joint robot of claim 6, wherein the speed regulation module is configured to detect whether a safety parameter of the robot changes when the operation value is smaller than the safety parameter, and trigger the robot to regulate speed in real time to increase speed if an increase in the safety parameter is detected.
8. The multi-joint robot of claim 6, wherein the robot has a normal operation mode and a reduced mode, the safety parameter in the normal operation mode is greater than the safety parameter in the reduced mode, the speed regulation module is configured to detect whether a mode switch is currently occurring when the operation value is less than a current safety parameter, and trigger the robot to regulate speed in real time to increase speed when the robot is detected to switch from the reduced mode to the normal operation mode.
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| CN202111041037.5A CN113771031B (en) | 2021-09-07 | 2021-09-07 | Robot self-adaptive speed regulation method and multi-joint robot |
| PCT/CN2022/117210 WO2023036116A1 (en) | 2021-09-07 | 2022-09-06 | Method for adaptively regulating speed of robot and multi-joint robot |
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| CN113771031A (en) | 2021-12-10 |
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