CN113927603B - Mechanical arm dragging control method and device, computer equipment and storage medium - Google Patents
Mechanical arm dragging control method and device, computer equipment and storage medium Download PDFInfo
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- CN113927603B CN113927603B CN202111350377.6A CN202111350377A CN113927603B CN 113927603 B CN113927603 B CN 113927603B CN 202111350377 A CN202111350377 A CN 202111350377A CN 113927603 B CN113927603 B CN 113927603B
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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
- B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The application relates to a mechanical arm dragging control method, a mechanical arm dragging control device, computer equipment and a storage medium, and belongs to the technical field of compliant control. According to the method, whether the mechanical arm enters a singular area is determined according to joint angles of all joints, and under the condition that the mechanical arm enters the singular area, environmental acting force is converted into joint moments of all joints, and then movement of all joints is controlled according to the joint moments. And if the mechanical arm does not enter the singular region, controlling each joint movement of the mechanical arm based on the environmental acting force. In this way, the joint motion is controlled in a singular region in a mode of converting the environmental acting force into the joint moment, and the joint motion is controlled in a non-singular region based on the environmental acting force, so that the problem of non-compliance in the singular region can be effectively avoided, new parameters are not required to be introduced, and the operation complexity is reduced.
Description
Technical Field
The present disclosure relates to the field of compliant control technologies, and in particular, to a method and apparatus for controlling dragging of a mechanical arm, a computer device, and a storage medium.
Background
In practical applications, there is often a situation that the dragging of the mechanical arm is not continuous, because the mechanical arm has a singular configuration. The singular configuration refers to a state that when two or more axes of the mechanical arm are collinear, an unexpected movement state of the mechanical arm, such as a severe jump of angular velocity, etc., occurs. Therefore, clamping stagnation and jump of the mechanical arm in a singular configuration can be caused, and the flexibility is poor. In practice, the region where each axis of the robot arm gradually forms a singular configuration is called a singular region. The compliance control of the mechanical arm is very important in mechanical arm systems in the fields of neurosurgery, abdominal cavity, orthopaedics and the like, the subjective feeling of operating the mechanical arm by an operator is directly related, and the better compliance can simulate the actual operation of the arm of the operator more truly, so that the operation of the mechanical arm is closer to the operation of the operator.
In the prior art, a method for avoiding the singular configuration comprises the steps of determining whether a mechanical arm is close to the singular configuration, determining whether the mechanical arm is close to the singular configuration, calculating constraint force based on operability indexes, and applying additional constraint force to the mechanical arm through a driver so that the mechanical arm avoids the singular configuration to continue moving under the action of the constraint force.
However, in the mode of applying the additional constraint force, the magnitude of the additional constraint force can have a great influence on the flexibility of the mechanical arm, on one hand, the introduction of new parameters increases the operation complexity, and on the other hand, the determination of the precise magnitude of the additional constraint force is difficult, so that the flexibility control effect is unstable.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a method, an apparatus, a computer device, and a storage medium for controlling arm drag, which can reduce the computational complexity and improve the compliance control effect.
A method of robotic arm drag control, the method comprising:
determining whether the mechanical arm enters a singular area according to joint angles of all joints of the mechanical arm;
if the mechanical arm enters a singular area, converting the environmental acting force into joint moments of all joints of the mechanical arm, and controlling all joints of the mechanical arm to move based on the joint moments; the environmental force is a force after gravity compensation;
if the robotic arm does not enter the singular region, controlling each articulation of the robotic arm based on the environmental forces.
In one embodiment, converting the environmental force into joint moments of joints of the robotic arm includes:
And obtaining the joint moment of each joint according to the product of the transpose of the jacobian matrix and the environmental acting force.
In one embodiment, determining whether the mechanical arm enters the singular region according to joint angles of joints of the mechanical arm includes:
inputting the rotation angles of all joints to a preset singular judgment module, and determining whether the mechanical arm enters a singular area or not based on the output result of the singular judgment module; the singular judgment module comprises at least one of a wrist joint singular model, a shoulder joint singular model and an elbow joint singular model.
In one embodiment, controlling each articulation of the robotic arm based on each articulation moment includes:
inputting the moment of each joint and the rotation angle of each joint into a preset admittance control model to obtain the joint acceleration of each joint of the mechanical arm output by the admittance control model;
the respective joint movements of the robot arm are controlled based on the respective joint accelerations.
In one embodiment, controlling each joint motion of the robotic arm based on each joint acceleration includes:
integrating the acceleration of each joint twice to obtain the joint rotation angle of each joint of the mechanical arm at the next moment;
and determining control signals of all joints of the mechanical arm according to joint angles of all joints of the mechanical arm at the next moment, and controlling all joints of the mechanical arm to move based on the control signals of all joints of the mechanical arm.
In one embodiment, controlling individual articulation of a robotic arm based on environmental forces includes:
carrying out speed mapping on each joint corner to obtain the tail end speed of the mechanical arm;
determining the end acceleration of the mechanical arm according to the environmental acting force and the end speed;
the individual articulation of the robotic arm is controlled based on the tip acceleration.
In one embodiment, controlling individual articulation of the robotic arm based on tip acceleration includes:
integrating the terminal acceleration twice to obtain the terminal pose of the mechanical arm at the next moment;
performing kinematic inverse solution operation on the tail end pose of the mechanical arm at the next moment to obtain joint angles of all joints of the mechanical arm at the next moment;
and determining control signals of all joints of the mechanical arm according to joint angles of all joints of the mechanical arm at the next moment, and controlling all joints of the mechanical arm to move based on the control signals of all joints of the mechanical arm.
A robotic arm drag control device, the device comprising:
the singular judgment module is used for determining whether the mechanical arm enters a singular area according to joint angles of all joints of the mechanical arm;
the force conversion module is used for converting the environmental acting force into joint moments of all joints of the mechanical arm if the mechanical arm enters a singular area and controlling all the joints of the mechanical arm to move based on the joint moments; the environmental force is a force after gravity compensation;
And the control module is used for controlling the movement of each joint of the mechanical arm based on the environmental acting force if the mechanical arm does not enter the singular region.
A computer device comprising a memory storing a computer program and a processor which when executing the computer program performs the steps of:
determining whether the mechanical arm enters a singular area according to joint angles of all joints of the mechanical arm;
if the mechanical arm enters a singular area, converting the environmental acting force into joint moments of all joints of the mechanical arm, and controlling all joints of the mechanical arm to move based on the joint moments; the environmental force is a force after gravity compensation;
if the robotic arm does not enter the singular region, controlling each articulation of the robotic arm based on the environmental forces.
A computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:
determining whether the mechanical arm enters a singular area according to joint angles of all joints of the mechanical arm;
if the mechanical arm enters a singular area, converting the environmental acting force into joint moments of all joints of the mechanical arm, and controlling all joints of the mechanical arm to move based on the joint moments; the environmental force is a force after gravity compensation;
If the robotic arm does not enter the singular region, controlling each articulation of the robotic arm based on the environmental forces.
According to the mechanical arm dragging control method, the mechanical arm dragging control device, the computer equipment and the storage medium, the operation complexity can be reduced. According to the method, whether the mechanical arm enters a singular area is determined according to joint angles of all joints, and under the condition that the mechanical arm enters the singular area, environmental acting force is converted into joint moments of all joints, and then movement of all joints is controlled according to the joint moments. And if the mechanical arm does not enter the singular region, controlling each joint movement of the mechanical arm based on the environmental acting force. In this way, the joint motion is controlled in a singular region in a mode of converting the environmental acting force into the joint moment, and the joint motion is controlled in a non-singular region based on the environmental acting force, so that the problem of non-compliance in the singular region can be effectively avoided, new parameters are not required to be introduced, and the operation complexity is reduced.
Drawings
FIG. 1 is a schematic illustration of a mechanical arm according to an embodiment;
FIG. 2 is a flow chart of a method for controlling drag of a robot in one embodiment;
FIG. 3 is a flow diagram of a process for controlling the movement of each joint of a robotic arm based on each joint moment in one embodiment;
FIG. 4 is a flow diagram of a process for controlling the movement of each joint of a robotic arm based on each joint moment in one embodiment;
FIG. 5 is a control flow diagram of a method of controlling the movement of each joint of a robotic arm based on torque of each joint;
FIG. 6 is a control flow diagram of another method of hybrid control for medical robotic arm dragging based on force translation;
FIG. 7 is a block diagram of a robotic arm drag control device in one embodiment;
fig. 8 is an internal structural diagram of a computer device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application. In addition, the technical features of the different embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
The robotic arm is typically driven by a plurality of drives, each of which is capable of providing rotational movement about an axis. Taking a six-axis mechanical arm as an example, theoretically, the six-axis mechanical arm already satisfies six degrees of freedom in three-dimensional space, and therefore, the end of the mechanical arm can reach any position in space. However, in practical application, the situation that the dragging of the mechanical arm is not continuous often occurs, because the six-axis mechanical arm has a plurality of singular areas. The singular region refers to a region in which each axis of the mechanical arm gradually forms a singular configuration, and when each axis of the mechanical arm is in the singular configuration, unexpected movement of the mechanical arm occurs.
The principle of the occurrence of the singular region will be briefly described. In general, the process of motion control of each joint of the mechanical arm is: and obtaining the tail end position of the mechanical arm, and then obtaining the combination of the angle parameters of each joint by utilizing the jacobian matrix and the tail end position of the mechanical arm, wherein one tail end position can be achieved by different mechanical arm postures, so that a plurality of groups of angle parameters can be solved, an optimal solution is obtained from the angle parameters, and the movement of each joint is controlled according to the angle parameters corresponding to the optimal solution.
When the mechanical arm is located in the singular area, one end position corresponds to an infinite number of solutions, so that an optimal solution cannot be selected from the solutions, and therefore, no solution is caused in the situation. This is because, when the two axes of the mechanical arm are collinear, the jacobian matrix is still used to solve for the angular parameters of each joint, the jacobian matrix is not completely linearly independent, resulting in a non-full rank of the jacobian matrix with a value of zero, such that the jacobian matrix has no solution or an infinite solution.
This will result in the mechanical arm being in a singular area, and small displacement variations will cause a drastic change in the angle of some joints, resulting in an approximately infinite angular velocity, which is not possible in the real world, and will therefore result in abrupt changes in the rotational speed of some joints of the mechanical arm. Therefore, clamping stagnation and jump can occur in a singular area of the mechanical arm, and the flexibility is poor. The compliance control of the mechanical arm is very important in mechanical arm systems in the fields of neurosurgery, abdominal cavity, orthopaedics and the like, the subjective feeling of operating the mechanical arm by an operator is directly related, and the better compliance can simulate the actual operation of the arm of the operator more truly, so that the operation of the mechanical arm is closer to the operation of the operator.
Therefore, how to solve the problem of clamping stagnation and jump of the mechanical arm in the singular area is an important research topic in the field.
In one prior art, a six-axis mechanical arm is changed into a seven-axis mechanical arm, and the degree of freedom of the mechanical arm is increased to increase the path selectivity of avoiding a singular area, and at the same time, the motion with higher complexity can be performed. However, as the number of joints of the robot arm increases, the occurrence position and occurrence chance of the singular region also increase.
In another prior art, a method for avoiding the singular configuration is to determine whether the mechanical arm is close to the singular configuration, determine that the mechanical arm is close to the singular configuration, calculate a constraint force based on an operability index, and apply an additional constraint force to the mechanical arm through a driver, so that the mechanical arm avoids the singular configuration to continue moving under the action of the constraint force. However, in the mode of applying the additional constraint force, the magnitude of the additional constraint force can have a great influence on the flexibility of the mechanical arm, on one hand, the introduction of new parameters increases the operation complexity, and on the other hand, the determination of the precise magnitude of the additional constraint force is difficult, so that the flexibility control effect is unstable.
In view of the problems in the prior art, the present application proposes a method for controlling dragging of a mechanical arm, where whether the mechanical arm enters a singular area or not can be determined according to joint angles of joints of the mechanical arm, and in the case that the mechanical arm enters the singular area, environmental acting force is converted into joint moments of the joints, and then the joint angles of the joints are solved by using the joint moments, so as to control the joints, and in the case that the mechanical arm does not enter the singular area, the joint angles of the joints are solved based on jacobian, so as to control the joints, so that the problem that dragging is not compliant when the mechanical arm is in the singular area can be effectively avoided.
The following describes the structure of the mechanical arm provided in the embodiment of the present application.
As shown in fig. 1, fig. 1 illustrates an exemplary structure of a mechanical arm, specifically including a mechanical arm 1, a sensor 2, and a drag handle 3, and alternatively, the mechanical arm 1 may be a medical mechanical arm in fields such as neurosurgery, abdominal cavity, orthopaedics, and the like, which is not limited herein. Alternatively, the sensor 2 may be a force sensor for detecting force and/or moment, alternatively, the sensor 2 may be a six-dimensional force sensor.
As shown in fig. 2, the embodiment of the application provides a flow diagram of a method for controlling dragging of a mechanical arm. The method can be applied to the mechanical arm shown in fig. 1, and comprises the following steps:
Under the condition that the mechanical arm is not subjected to environmental force, the mechanical arm keeps unchanged. When the mechanical arm receives an environmental force acting on the tail end of the mechanical arm, the state of the mechanical arm changes, and each joint of the mechanical arm is displaced or changed in angle in response to the environmental force. In the process, the mechanical arm can detect the joint rotation angle of each joint in real time, and judge the joint rotation angle of each joint detected in real time so as to predict whether the mechanical arm enters a singular area.
The joint rotation angle of each joint of the mechanical arm can be detected by a sensor on the mechanical arm.
Next, in the present application, a procedure of determining whether the robot arm enters the singular area according to each joint rotation angle will be described.
First, the kind of the usual singular configuration will be described.
The appearance of the singular configuration is related to the pose of the robotic arm, so the singular configuration is not a given configuration and it is difficult to list all the singular configurations. In this embodiment, according to the posture of the mechanical arm corresponding to the singular configuration, the singular configuration of the mechanical arm may be divided into three types, and the following description will be given respectively. First, a brief description will be given of the structure of the robot arm, taking a six-axis robot arm as an example, the six-axis robot arm includes six axes, and the number of each axis is well known to those skilled in the art. The singular configuration is described below: the first is the wrist singular configuration, i.e., the singular configuration that occurs when the 4 th and 6 th axes are collinear, which causes the system to attempt to rotate the 4 th and 6 th axes 180 degrees instantaneously. The second is the shoulder singular configuration, i.e., the singular configuration that occurs when the 1 st axis is collinear with the wrist center point (the intersection of the 5 th and 6 th axes), which causes the system to attempt to rotate the 1 st and 4 th axes 180 degrees instantaneously. In addition, the shoulder singular configurations also include those that occur when the 1 st axis is collinear with the wrist center point and the 6 th axis, which would cause the system to attempt to instantaneously rotate 180 degrees between the 1 st and 6 th axes. The third is the singular configuration of the elbow joint, i.e. the singular configuration that occurs when the wrist joint center point is coplanar with the 2 nd and 3 rd axes, which can cause the elbow joint to seize, as if it were locked, and no longer move.
From the above, it is known that whether the robot arm enters the singular region can be predicted by detecting the relative positional relationship between the joints of the robot arm.
In an alternative implementation, the relative positional relationship between the joints may be determined at the joint angles, and then whether the robotic arm enters the singular region may be determined based on the relative positional relationship. For example, if it is determined that the 4 th axis and the 6 th axis are approximately collinear, the robot arm is considered to enter a singular region. If the center point of the 1 st axis and the wrist joint (the intersection point of the 5 th axis and the 6 th axis) is judged to be approximately collinear, the mechanical arm is considered to enter a singular region. It is not intended to be exhaustive.
It should be noted that, close to being collinear may be regarded as that the included angle between the two is smaller than the preset included angle threshold. Wherein the entry of the robotic arm into the singular region indicates that the robotic arm has entered the singular region, or indicates that the robotic arm is near the singular region.
In another alternative implementation, each joint rotation angle may be input to a preset singular judgment module, and optionally, the singular judgment module may be expressed as: f (θ) (θ= … n), where n is the number of joints of the mechanical arm, θ is the joint angle of each joint of the mechanical arm, and whether the mechanical arm enters a singular region is determined based on the output result of the singular determination module. In this embodiment of the present application, the output result of the singular determination module includes entering a singular area or not entering a singular area. The singular judgment module comprises, but is not limited to, a wrist singular model, a shoulder singular model, an elbow singular model and the like.
In another optional implementation manner, in the embodiment of the present application, a configuration analysis may be performed on the mechanical arm, so that whether the mechanical arm has a singular configuration or which singular configurations exist can be known, and based on the configuration analysis, a singular judgment model and a jacobian model of the mechanical arm are established, where different configurations of the mechanical arm may not be the same. The singular judgment model is used for judging whether the mechanical arm enters a singular area or not. The jacobian model is used for solving each joint of the mechanical arm under the condition that the mechanical arm does not enter a singular region.
In the case where the robot arm enters the singular region, the determinant value of the jacobian model is zero or a non-full rank.
Wherein the environmental force is a force after the gravity compensation.
If the mechanical arm enters a singular area, the method indicates that when the jacobian matrix is adopted to solve the joint parameters, a solving result cannot be obtained or the solving result is infinite. In the prior art, when this situation is encountered, the singular area is generally avoided by sacrificing the flexibility of the mechanical arm, which results in a decrease in the overall flexibility of the mechanical arm.
To solve this problem, the embodiments of the present application propose the idea of force conversion, namely, converting the environmental force into joint moments of each joint of the mechanical arm if the mechanical arm enters the singular region.
In an alternative implementation manner, a force sensor may be disposed at each joint of the mechanical arm, the detection moment of each joint is detected through the force sensor of each joint, and the detection moment detected by the force sensor of each joint is corrected according to the environmental acting force to obtain the joint moment of each joint of the mechanical arm.
In another alternative implementation, a jacobian matrix may be obtained, and the joint moment of each joint is derived from the product of the transpose of the jacobian matrix and the environmental forces. Wherein the joint moment of each joint is denoted by τ, τ=j T F, F is the environmental force, J is the Jacobian matrix.
After the joint moment of each joint is obtained, the model is controlled by admittance
Is converted into motion control quantity, wherein θ is joint rotation angle,>
for the first derivative of the joint rotation angle, +.>
And the mechanical arm is driven according to the motion control quantity by the second derivative of the joint rotation angle and finally through the bottom layer servo and network communication. Among them, the process of converting into the motion control amount by the admittance control model is described below.
If the robot arm does not enter the singular zone, the individual joints of the robot arm are controlled based on the environmental forces 203.
In the embodiment of the application, if the mechanical arm does not enter the singular region, the force control flexible dragging is performed based on the Cartesian coordinate system, wherein the environmental acting force F acts on the dragging handle of the mechanical arm, and the environmental acting force F can pass through the admittance control model
Is converted into motion control quantity, wherein M is an inertia coefficient, B is a damping coefficient, K is a rigidity coefficient,
for the velocity matrix +.>
Is an acceleration matrix. And finally, dragging the mechanical arm through the bottom layer servo and network communication.
In the embodiment of the application, through the joint rotation angle of each joint of the mechanical arm in real time, whether the mechanical arm enters a singular area is judged based on the joint rotation angle, if the mechanical arm enters the singular area, the environmental acting force is converted into the joint moment of each joint, then each joint movement of the mechanical arm is controlled based on the joint moment, if the mechanical arm does not enter the singular area, each joint movement of the mechanical arm is controlled based on the environmental acting force, and the movement control amounts issued by the two different control algorithms to the bottom servo are the same finally. Therefore, the flexible control of the mechanical arm in the singular region can be realized, the flexibility is not required to be sacrificed, and additional degrees of freedom or constraint are not required to be added, so that the operation is simple.
In one embodiment of the present application, before determining whether the mechanical arm enters the singular area, gravity compensation may be performed on the mechanical arm, so as to obtain the environmental force. This is described in detail below:
the gravity compensation is performed to extract information of the environmental forces to which the end of the robot arm is subjected. In fact, when the mechanical arm receives an environmental acting force, the mechanical arm also receives a gravity action at the same time, and the force sensor cannot separate the environmental acting force from the gravity, so that the force detected by the force sensor is compensated by gravity, and the compensated acting force is used as the environmental acting force received by the mechanical arm.
Optionally, in the embodiment of the present application, each joint rotation angle may be input into a preset gravity compensation model, so as to obtain a gravity compensation value output by the gravity compensation model.
The gravity compensation model may be handforce=f- (F0) - (f_flag) - (f_tool), where handforce is the environmental force, F is the reading actually detected by the sensor, F0 is the calibrated initial value of the sensor, f_flag is the flange gravity, and f_tool is the end tool gravity.
The principle of gravity compensation comprises the following steps: and determining a gravity compensation value according to each joint rotation angle, and subtracting the gravity compensation value from the reading actually detected by the force sensor to enable the mechanical arm to obtain the environment acting force applied by the external environment.
It should be noted that, in the embodiment of the present application, the gravity compensation is performed in real time, that is, whether the mechanical arm receives an environmental force or not, the gravity compensation is required, so that the tail end of the mechanical arm is kept in a suspended state.
In this application embodiment, the obvious effect of gravity compensation has two points, 1, and after the gravity compensation, the arm end can not receive gravity influence whereabouts. That is, the end of the arm does not drop down when the arm is in a stationary state. 2, when the mechanical arm is in flexible control, the dynamic performance of the mechanical arm can be increased, steady-state errors are reduced, and compared with the mechanical arm without gravity compensation, the dynamic tracking error of the mechanical arm is smaller.
In one embodiment, as shown in FIG. 3, the process of controlling the movement of each joint of the robotic arm based on each joint moment includes the following:
In the embodiment of the application, admittance control model
Wherein K is a rigidity matrix, tau is joint moment of each joint, M is an inertia coefficient, B is a damping coefficient, < + > >
Is the second derivative of the joint rotation angle，/>
Is the first derivative of the joint rotation angle, θ is the joint rotation angle. Since the value of K can be approximately 0 under the condition of environmental force, the admittance control model can be simplified to +.>
And inputting the moment of each joint and the rotation angle of each joint into the admittance control model to obtain the joint acceleration output by the admittance control model.
In this embodiment of the present application, after the joint acceleration is obtained, the joint rotation angle of each joint at the next moment may be predicted according to the joint acceleration, and each joint rotation of the mechanical arm may be controlled based on the joint rotation angle at the next moment.
According to the embodiment of the application, the joint acceleration of the mechanical arm is obtained through the joint moment and the joint rotation angle, and then the motion control is performed on each joint of the mechanical arm based on the joint acceleration, so that the flexibility of dragging control of the mechanical arm is further improved.
In one embodiment of the present application, as shown in fig. 4, a control flow diagram of a method of hybrid control for medical robotic arm dragging based on force translation is shown.
In this embodiment, after the environmental force is applied to the robot arm, the six-dimensional torque sensor may detect the detection force, where the detection force includes a component of the gravity of the end tool in the coordinate system of the six-dimensional torque sensor, so that the detection force is not completely the environmental force applied to the robot arm by the external environment. For distinction, the force detected by the six-dimensional torque sensor is referred to as the external environmental force.
In this embodiment of the present application, the mechanical arm performs gravity compensation in real time, that is, performs gravity compensation based on an external environmental force, and obtains a compensated environmental force and a gravity compensation processReference may be made to the disclosure in the above embodiments. After gravity compensation, the mechanical arm can determine whether the mechanical arm enters a singular area according to the rotation angles of all joints, and under the condition that the mechanical arm enters the singular area, the environmental acting force is transposed by J through a jacobian matrix T Which translates into joint moment. Inputting the joint moment and each joint rotation angle into an admittance control model to obtain joint acceleration output by the admittance control model
In the embodiment of the present application, the admittance control model is
Wherein K is a rigidity matrix, tau is joint moment of each joint, M is an inertia coefficient, B is a damping coefficient, < + >>
For the second derivative of the joint rotation angle +.>
Is the first derivative of the joint rotation angle, θ is the joint rotation angle.
Further, taking the current time as t and the next time as t+1 as an example, the joint rotation angle θ based on the time t t After the joint rotation angle and the joint moment are input into the admittance control model, the joint acceleration at the next moment can be obtained
Acceleration of joints- >
Performing twice integration to obtain joint angles of all joints of the mechanical arm at the next moment; and determining control signals of all joints of the mechanical arm according to joint angles of all joints of the mechanical arm at the next moment, and controlling all joints of the mechanical arm to move based on the control signals of all joints of the mechanical arm.
In this embodiment, the joint rotation angle of each joint of the mechanical arm at the next moment is input into the preset dynamics model to obtain a new joint moment, and the joint moment and the control signal have a linear relationship, so that the control signal of each joint can be obtained based on the new joint moment, and the motion of each joint is controlled by the control signal of each joint.
Alternatively, in the embodiment of the present application, when the control signal is a control current, the linear relationship between the joint moment and the control current may be expressed as: the joint moment is equal to the product of the moment constant and the current, so that the control current of each joint can be obtained, and the control current of each joint is given to a servo control system, so that the motion control of each joint can be completed.
In one embodiment, as shown in fig. 5, the process of controlling the movement of each joint of the mechanical arm based on each joint moment includes the following:
In the embodiment of the application, the terminal speed of the mechanical arm can be obtained by performing speed mapping on the joint rotation angles of all joints of the mechanical arm based on a pre-established kinematic model.
Optionally, in this embodiment of the present application, a speed mapping module may be preset, where the speed mapping module may take a joint angle of each joint as an input, and output an end speed.
The environment acting force is force after gravity compensation, and can represent real acting force applied to the mechanical arm by the external environment, and the tail end speed is the speed of the tail end of the mechanical arm under the real acting force.
In an embodiment of the present application, the process of determining the end acceleration of the mechanical arm according to the environmental acting force and the end speed may include the following:
and inputting the environmental acting force and the tail end speed into a preset admittance control model to obtain the tail end acceleration of the mechanical arm output by the admittance control model.
Wherein, the admittance control model is as follows
Wherein K is a rigidity matrix, F is an environmental acting force, M is an inertia coefficient, B is a damping coefficient, < + > >
For the velocity matrix +.>
Is an acceleration matrix. Since the value of K can be approximately 0 under the condition of environmental force, the admittance control model can be simplified to +.>
In the embodiment of the application, after the end acceleration is obtained, the movement of each joint of the mechanical arm can be controlled based on a speed ring, a position ring or a moment ring.
According to the embodiment of the application, the terminal speed is obtained by carrying out speed mapping on the rotation angles of all joints, and then the motion control is carried out on all joints of the mechanical arm based on the admittance control model, the terminal speed and the environmental acting force, so that the flexibility of dragging control of the mechanical arm is further improved.
In an alternative implementation, as shown in fig. 6, a control flow diagram of a medical robotic arm drag hybrid control method based on force translation is shown. In this embodiment, after the environmental force is applied to the robot arm, the six-dimensional torque sensor may detect the detection force, where the detection force includes a component of the gravity of the end tool in the coordinate system of the six-dimensional torque sensor, so that the detection force is not completely the environmental force applied to the robot arm by the external environment. For distinction, the force detected by the six-dimensional torque sensor is referred to as the external environmental force.
In this embodiment of the present application, the mechanical arm performs gravity compensation in real time, that is, performs gravity compensation based on the external environmental force, and obtains the compensated environmental force, and the process of gravity compensation may refer to the disclosure in the foregoing embodiment. After the gravity compensation, the mechanical arm can determine whether the mechanical arm enters a singular area according to each joint rotation angle, and under the condition that the mechanical arm does not enter the singular area, the mechanical arm carries out speed mapping according to each joint rotation angle to obtain the tail end speed of the mechanical arm; and determining the end acceleration of the mechanical arm according to the environmental acting force and the end speed.
As shown in fig. 6, after the end acceleration of the arm is obtained, the end acceleration is integrated to obtain the end velocity of the arm at the next time
End speed of the arm at the next moment +.>
Integrating to obtain the tail end pose x of the mechanical arm at the next moment t+1 . And then, carrying out kinematic inverse solution operation on the tail end pose of the mechanical arm at the next moment to obtain the joint rotation angle of each joint of the mechanical arm at the next moment. Inputting the joint rotation angle of each joint of the mechanical arm at the next moment into the preset dynamics model to obtain a new joint moment; and determining the control signals of all joints according to the relation between the new joint moment and the control signals, and giving the control signals of all joints to a servo control system to finish the motion control of all joints.
In this embodiment, when the control signal is the control current, the relationship between the new joint moment and the control signal may be expressed as: the joint moment is equal to the product of the moment constant and the current, so that the control current of each joint can be obtained, and the control current of each joint is given to a servo control system, so that the motion control of each joint can be completed.
It should be understood that, although the steps in the flowcharts of fig. 1-6 are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in FIGS. 1-6 may include multiple steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of the steps or stages in other steps or other steps.
In one embodiment, as shown in fig. 7, there is provided a robot arm drag control device 700, comprising: a singular judgment module 701, a force conversion module 702 and a control module 703, wherein:
the singular judgment module 701 is configured to determine whether the mechanical arm enters a singular area according to joint angles of joints of the mechanical arm;
the force conversion module 702 is configured to convert the environmental force into joint moments of each joint of the mechanical arm if the mechanical arm enters the singular region, and control each joint movement of the mechanical arm based on each joint moment; the environmental force is a force after gravity compensation;
and a control module 703, configured to control the movement of each joint of the mechanical arm based on the environmental force if the mechanical arm does not enter the singular region.
In one embodiment, the force conversion module 702 is specifically configured to obtain the joint moment of each joint according to the product of the transpose of the jacobian matrix and the environmental force.
In one embodiment, the singular judgment module 701 is specifically configured to input each joint rotation angle to a preset singular judgment module, and determine whether the mechanical arm enters a singular area based on an output result of the singular judgment module; the singular judgment module comprises at least one of a wrist joint singular model, a shoulder joint singular model and an elbow joint singular model.
In one embodiment, the force conversion module 702 is specifically configured to input each joint moment and each joint rotation angle to a preset admittance control model, so as to obtain joint acceleration of each joint of the mechanical arm output by the admittance control model;
the respective joint movements of the robot arm are controlled based on the respective joint accelerations.
In one embodiment, the force conversion module 702 is specifically configured to integrate the acceleration of each joint twice to obtain a joint rotation angle of each joint of the mechanical arm at the next moment;
and determining control signals of all joints of the mechanical arm according to joint angles of all joints of the mechanical arm at the next moment, and controlling all joints of the mechanical arm to move based on the control signals of all joints of the mechanical arm.
In one embodiment, the control module 703 is specifically configured to map the speed of each joint rotation angle to obtain the end speed of the mechanical arm;
determining the end acceleration of the mechanical arm according to the environmental acting force and the end speed;
the individual articulation of the robotic arm is controlled based on the tip acceleration.
In one embodiment, the control module 703 is specifically configured to integrate the terminal acceleration twice to obtain a terminal pose of the mechanical arm at a next moment;
Performing kinematic inverse solution operation on the tail end pose of the mechanical arm at the next moment to obtain joint angles of all joints of the mechanical arm at the next moment;
and determining control signals of all joints of the mechanical arm according to joint angles of all joints of the mechanical arm at the next moment, and controlling all joints of the mechanical arm to move based on the control signals of all joints of the mechanical arm.
For specific limitation of the mechanical arm dragging control device, reference may be made to the limitation of the mechanical arm dragging control method hereinabove, and the description thereof will not be repeated here. The modules in the mechanical arm dragging control device can be realized in whole or in part through software, hardware and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, the internal structure of which may be as shown in FIG. 8. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer device is for storing data. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program, when executed by a processor, implements a method of robotic arm drag control.
It will be appreciated by those skilled in the art that the structure shown in fig. 8 is merely a block diagram of some of the structures associated with the present application and is not limiting of the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided comprising a memory and a processor, the memory having stored therein a computer program, the processor when executing the computer program performing the steps of:
determining whether the mechanical arm enters a singular area according to joint angles of all joints of the mechanical arm;
if the mechanical arm enters a singular area, converting the environmental acting force into joint moments of all joints of the mechanical arm, and controlling all joints of the mechanical arm to move based on the joint moments; the environmental force is a force after gravity compensation;
if the robotic arm does not enter the singular region, controlling each articulation of the robotic arm based on the environmental forces.
In one embodiment, the processor when executing the computer program further performs the steps of: and obtaining the joint moment of each joint according to the product of the transpose of the jacobian matrix and the environmental acting force.
In one embodiment, the processor when executing the computer program further performs the steps of: inputting the rotation angles of all joints to a preset singular judgment module, and determining whether the mechanical arm enters a singular area or not based on the output result of the singular judgment module; the singular judgment module comprises at least one of a wrist joint singular model, a shoulder joint singular model and an elbow joint singular model.
In one embodiment, the processor when executing the computer program further performs the steps of: inputting the moment of each joint and the rotation angle of each joint into a preset admittance control model to obtain the joint acceleration of each joint of the mechanical arm output by the admittance control model;
the respective joint movements of the robot arm are controlled based on the respective joint accelerations.
In one embodiment, the processor when executing the computer program further performs the steps of: integrating the acceleration of each joint twice to obtain the joint rotation angle of each joint of the mechanical arm at the next moment;
and determining control signals of all joints of the mechanical arm according to joint angles of all joints of the mechanical arm at the next moment, and controlling all joints of the mechanical arm to move based on the control signals of all joints of the mechanical arm.
In one embodiment, the processor when executing the computer program further performs the steps of: carrying out speed mapping on each joint corner to obtain the tail end speed of the mechanical arm;
determining the end acceleration of the mechanical arm according to the environmental acting force and the end speed;
the individual articulation of the robotic arm is controlled based on the tip acceleration.
In one embodiment, the processor when executing the computer program further performs the steps of: integrating the terminal acceleration twice to obtain the terminal pose of the mechanical arm at the next moment;
performing kinematic inverse solution operation on the tail end pose of the mechanical arm at the next moment to obtain joint angles of all joints of the mechanical arm at the next moment;
and determining control signals of all joints of the mechanical arm according to joint angles of all joints of the mechanical arm at the next moment, and controlling all joints of the mechanical arm to move based on the control signals of all joints of the mechanical arm.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of:
determining whether the mechanical arm enters a singular area according to joint angles of all joints of the mechanical arm;
If the mechanical arm enters a singular area, converting the environmental acting force into joint moments of all joints of the mechanical arm, and controlling all joints of the mechanical arm to move based on the joint moments; the environmental force is a force after gravity compensation;
if the robotic arm does not enter the singular region, controlling each articulation of the robotic arm based on the environmental forces.
In one embodiment, the computer program when executed by the processor further performs the steps of: and obtaining the joint moment of each joint according to the product of the transpose of the jacobian matrix and the environmental acting force.
In one embodiment, the computer program when executed by the processor further performs the steps of: inputting the rotation angles of all joints to a preset singular judgment module, and determining whether the mechanical arm enters a singular area or not based on the output result of the singular judgment module; the singular judgment module comprises at least one of a wrist joint singular model, a shoulder joint singular model and an elbow joint singular model.
In one embodiment, the computer program when executed by the processor further performs the steps of: inputting the moment of each joint and the rotation angle of each joint into a preset admittance control model to obtain the joint acceleration of each joint of the mechanical arm output by the admittance control model;
The respective joint movements of the robot arm are controlled based on the respective joint accelerations.
In one embodiment, the computer program when executed by the processor further performs the steps of: integrating the acceleration of each joint twice to obtain the joint rotation angle of each joint of the mechanical arm at the next moment;
and determining control signals of all joints of the mechanical arm according to joint angles of all joints of the mechanical arm at the next moment, and controlling all joints of the mechanical arm to move based on the control signals of all joints of the mechanical arm.
In one embodiment, the computer program when executed by the processor further performs the steps of: carrying out speed mapping on each joint corner to obtain the tail end speed of the mechanical arm;
determining the end acceleration of the mechanical arm according to the environmental acting force and the end speed;
the individual articulation of the robotic arm is controlled based on the tip acceleration.
In one embodiment, the computer program when executed by the processor further performs the steps of: integrating the terminal acceleration twice to obtain the terminal pose of the mechanical arm at the next moment;
performing kinematic inverse solution operation on the tail end pose of the mechanical arm at the next moment to obtain joint angles of all joints of the mechanical arm at the next moment;
And determining control signals of all joints of the mechanical arm according to joint angles of all joints of the mechanical arm at the next moment, and controlling all joints of the mechanical arm to move based on the control signals of all joints of the mechanical arm.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, or the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (9)
1. The mechanical arm dragging control method is characterized by comprising the following steps of:
determining whether the mechanical arm enters a singular area according to joint angles of all joints of the mechanical arm;
if the mechanical arm enters a singular region, converting environmental acting force into joint moments of all joints of the mechanical arm, and controlling all joint movements of the mechanical arm based on all the joint moments; the environmental force is a force after gravity compensation;
If the mechanical arm does not enter a singular region, controlling each joint movement of the mechanical arm based on the environmental acting force;
the controlling each joint motion of the mechanical arm based on each joint moment includes:
inputting the joint moment and the joint rotation angle to a preset admittance control model to obtain joint acceleration of each joint of the mechanical arm output by the admittance control model;
and controlling each joint movement of the mechanical arm based on each joint acceleration.
2. The method of claim 1, wherein said converting the environmental force into a joint moment for each of the joints of the robotic arm comprises:
and obtaining the joint moment of each joint according to the product of the transpose of the jacobian matrix and the environmental acting force.
3. The method of claim 1, wherein determining whether the robotic arm enters a singular zone based on joint angles of respective joints of the robotic arm comprises:
inputting each joint rotation angle to a preset singular judgment module, and determining whether the mechanical arm enters a singular region or not based on the output result of the singular judgment module.
4. The method of claim 1, wherein said controlling each joint motion of the robotic arm based on each of the joint accelerations comprises:
integrating the joint acceleration twice to obtain joint angles of all joints of the mechanical arm at the next moment;
and determining control signals of all joints of the mechanical arm according to joint angles of all joints of the mechanical arm at the next moment, and controlling all joints of the mechanical arm to move based on the control signals of all joints of the mechanical arm.
5. The method of claim 1, wherein the controlling the respective articulation of the robotic arm based on the environmental force comprises:
the terminal speed of the mechanical arm is obtained by carrying out speed mapping on each joint rotation angle;
determining a tip acceleration of the robotic arm based on the ambient force and the tip speed;
individual articulation of the robotic arm is controlled based on the tip acceleration.
6. The method of claim 5, wherein the controlling the respective articulation of the robotic arm based on the tip acceleration comprises:
integrating the terminal acceleration twice to obtain the terminal pose of the mechanical arm at the next moment;
Performing kinematic inverse solution operation on the tail end pose of the mechanical arm at the next moment to obtain joint angles of all joints of the mechanical arm at the next moment;
and determining control signals of all joints of the mechanical arm according to joint angles of all joints of the mechanical arm at the next moment, and controlling all joints of the mechanical arm to move based on the control signals of all joints of the mechanical arm.
7. A robotic arm drag control device, the device comprising:
the singular judgment module is used for determining whether the mechanical arm enters a singular area according to joint angles of all joints of the mechanical arm;
the force conversion module is used for converting the environmental acting force into joint moment of each joint of the mechanical arm if the mechanical arm enters a singular region and controlling each joint of the mechanical arm to move based on each joint moment; the environmental force is a force after gravity compensation;
the control module is used for controlling each joint movement of the mechanical arm based on the environmental acting force if the mechanical arm does not enter a singular area;
the force conversion module is further used for inputting the joint moment and the joint rotation angle into a preset admittance control model to obtain joint acceleration of each joint of the mechanical arm output by the admittance control model; and controlling each joint movement of the mechanical arm based on each joint acceleration.
8. A computer device comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, implements the method of any of claims 1 to 6.
9. A computer readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, implements the method according to any of claims 1 to 6.
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| CN110666799A (en) * | 2019-10-15 | 2020-01-10 | 吉林大学 | Six-degree-of-freedom series robot compliance control method based on gravity compensation |
| CN110977990A (en) * | 2019-12-30 | 2020-04-10 | 苏州艾利特机器人有限公司 | Mechanical arm dragging teaching method based on terminal six-dimensional force sensor |
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| CN113305843A (en) * | 2021-05-28 | 2021-08-27 | 深圳亿嘉和科技研发有限公司 | Zero-force control method for mechanical arm |
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