CN113977585A - Virtual force servo compliance control method - Google Patents

Virtual force servo compliance control method Download PDF

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CN113977585A
CN113977585A CN202111412185.3A CN202111412185A CN113977585A CN 113977585 A CN113977585 A CN 113977585A CN 202111412185 A CN202111412185 A CN 202111412185A CN 113977585 A CN113977585 A CN 113977585A
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channel
force
acceleration
robot
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CN113977585B (en
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邢伯阳
刘宇飞
王志瑞
梁振杰
赵建新
邱天奇
苏波
江磊
李冀川
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Intelligent Mobile Robot Zhongshan Research Institute
China North Vehicle Research Institute
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Intelligent Mobile Robot Zhongshan Research Institute
China North Vehicle Research Institute
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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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control

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Abstract

The invention discloses a virtual force servo compliance control method, and belongs to the field of automatic control. The method enables the acceleration, speed and position control channels by combining swing track planning constraint and a support state on the basis of traditional force feedforward output, thereby improving the force control robustness of the robot in support and realizing accurate swing track tracking control. The method realizes hybrid control based on a multi-channel control method so as to improve the robustness of support contact force control, realize reliable tracking of expected force, improve the flexibility of mechanism control in the support, adjust the impedance rigidity of the controller through different flexibility requirements, and reduce the influence of different material quality on the force control reliability.

Description

Virtual force servo compliance control method
Technical Field
The invention relates to the field of automatic control, in particular to a virtual force servo compliance control method.
Background
The robot power servo control is a main technical means for realizing high dynamic and high precision, a foot-type bionic robot is taken as an example, the robot depends on force servo control to quickly adjust the position error in the supporting phase process, the required adjusting virtual force can be calculated based on kinematics or a simplified model through the control error of the robot body, but the feedforward tracking control performance of the expected force is reduced due to the problems of unreliability, slippage and the like existing in the supporting contact, the problems of high-frequency jitter or large noise and the like in the just-contacting process occur, and the reliability of tracking the expected force needs to be improved by adopting a virtual force compliance control algorithm.
Disclosure of Invention
In view of the technical problems, the invention provides a virtual force servo compliance control method, which realizes hybrid control by constructing a multi-channel control method so as to improve the robustness of support contact force control, realize reliable tracking of expected force, improve the compliance of mechanism control in support, adjust the impedance rigidity of a controller through different compliance requirements, and reduce the influence of different material surfaces on the reliability of force control.
The technical scheme adopted by the invention is as follows:
a virtual force servo compliance control method comprises the following steps:
step 1, generating an enabling signal G of a position, speed and force control channel based on the support contact condition, swing and other constraints of the tail end of the robot and the groundp、Gv、Ga、Gff；
Step (ii) of2, calculating the virtual force f generated by the position channel controller by setting a position channel proportional coefficient and a damping coefficient by using the joint angle of the robot as feedback datapTo realize the impedance compliance control;
and 3, calculating the virtual force f generated by the speed channel controller by setting a speed channel proportional coefficient, a damping coefficient and a feedforward coefficient by using the angular velocity of the robot joint as feedback datavAnd velocity feedforward virtual force fvff；
Step 4, adopting the motion acceleration of the tail end of the robot
Figure BDA0003374595190000023
Calculating the virtual force f generated by the acceleration channel controller by setting the acceleration channel proportionality coefficient, the damping coefficient and the feedforward coefficient as feedback dataaAnd acceleration feedforward virtual force faff；
Step 5, control the enabling signal G of the channel based on the position, the speed and the forcep、Gv、Ga、GffMixing and superposing the virtual forces obtained in the steps 2, 3 and 4 to obtain a total virtual force fF；
Step 6, mixing fFThe joint torque is converted by a virtual work principle, and an actuator torque control command tau is generated after the friction force and gravity feedforward are compensated, so that the joint impedance of the robot is flexibly controlled;
Figure BDA0003374595190000021
wherein g (q) is a gravity compensation term,
Figure BDA0003374595190000024
is a friction compensation term.
Further, the method for determining the enabling signals of the acceleration, velocity and position channels in step 1 is as follows:
when the swing track has a position planning result, the position channel enables the flag bit GpIs true;
when the swing track has the speed planning result, the speed channel enables the flag bit GvIs true;
when the tail end is in contact with the ground and supported and has an acceleration planning result, the acceleration channel enables the mark bit GaIs true;
when the tail end is in contact with the ground for supporting, the force feedforward channel mark bit GffIs true.
Further, the step 2 further comprises:
(1) firstly, constructing a mapping function of forward and inverse kinematics and Jacobian kinematics based on robot joint angle feedback:
Figure BDA0003374595190000022
where x is the position of the end of the robot,
Figure BDA0003374595190000031
is the terminal motion velocity, q is the robot joint angle,
Figure BDA0003374595190000038
is the robot joint angle, FK { } is the positive motion function, J is the jacobian matrix.
(2) X based on the current desired end positiondCalculating the virtual force f generated by the position channel controllerp：
Figure BDA0003374595190000032
Wherein Kp,pAs a position channel proportionality coefficient, Kd,pIs the position channel damping coefficient.
Further, the step 3 further comprises:
(1) firstly, constructing a mapping function of forward and inverse kinematics and Jacobian kinematics based on angular velocity feedback of a robot joint:
Figure BDA0003374595190000033
wherein
Figure BDA0003374595190000034
Is the acceleration of the robot tip, which is obtained by differentiating the tip velocity,
Figure BDA0003374595190000035
is the robot joint angle and J is the jacobian matrix.
(2) Based on the current desired tip movement velocity
Figure BDA0003374595190000039
Calculating a virtual force f generated by a speed channel controllervAnd velocity feedforward virtual force fvff：
Figure BDA0003374595190000036
Wherein Kp,vAs a velocity channel proportionality coefficient, Kd,vAs damping coefficient of velocity channel, Kff,vIs the velocity channel feedforward coefficient.
Further, the step 4 further comprises:
(1) firstly, calculating the current terminal supporting force f based on the virtual work principle and the Jacobian matrixest：
fest＝J-Tτm
Wherein tau ismThe resulting joint true torque is measured.
(2) Based on the current desired tip motion acceleration
Figure BDA0003374595190000037
Calculating the virtual force f generated by the acceleration channel controlleraAnd acceleration feedforward virtual force faff：
Figure BDA0003374595190000041
Wherein Kp,aIs the acceleration channel proportionality coefficient, Kd,aAs damping coefficient of acceleration channel, Kff,aIs the feedforward coefficient of the acceleration channel, and m is the robot mass.
Further, in the step 5, the total virtual force f is calculated by using the following formulaF:
fF＝fpGp+(fv+fvff)Gv+(fa+faff)Ga+FfGff
Wherein FfDesired feedforward force, G, to control system inputpBit flag for channel enable, GvBit flag for channel enable, GaBit flag for channel enable, GffThe force feedforward path is flagged.
Has the advantages that:
in the traditional force control method of the bionic robot, a feedback control rate is constructed by orienting to a simplified virtual rigid body, so that a corresponding virtual force is solved by combining the supporting condition of the feedback control rate, the virtual force is further mapped to a key actuator by adopting a virtual work theory, and finally pure moment control is carried out. The pure force control method is stable in an actual robot system due to uncontrollable contact, inaccurate actuator modeling and the like, noise and jitter exist during tracking of expected force, and damage can be caused to the actuator.
Drawings
FIG. 1 is a block diagram of a multi-channel robust controller;
fig. 2 is a flow chart of the calculation steps of the proposed method.
Detailed Description
The invention is described in further detail below with reference to figures 1 and 2.
A virtual force servo compliance control method is used for robust force tracking control requirements of bionic robot support force control, enables acceleration, speed and position control channels by combining swing track planning constraint and a support state on the basis of traditional force feedforward output, improves force control robustness of a robot in support, and realizes accurate swing track tracking control, and the method is shown in figures 1 and 2, and comprises the following specific processes:
step 1, generating an enabling signal G of a position, speed and force control channel based on the support contact condition, swing and other constraints of the tail end and the groundp、Gv、Ga、Gff；
The bionic robot end effector needs to determine whether a moment feedforward control command is generated or not according to the current contact state of the robot and the ground, and enable signals of speed and position channels need to be further determined according to system control requirements, modes and constraints:
(1) a position channel: when the swing track has a position planning result, the channel enable flag bit GpIs true;
(2) a speed channel: when the swing track has the speed planning result, the channel enable flag GvIs true;
(3) acceleration channel: when the tail end is in contact with the ground and supported and has an acceleration planning result, the channel enables the mark position GaIs true;
(4) force feed-forward path: when the tail end is in contact with the ground for supporting, the force feedforward channel mark bit GffIs true;
step 2, designing position channel
(1) Firstly, constructing a mapping function of forward and inverse kinematics and Jacobian kinematics based on robot joint angle feedback:
Figure BDA0003374595190000051
where x is the position of the end of the robot,
Figure BDA0003374595190000052
is the terminal motion velocity, q is the robot joint angle,
Figure BDA0003374595190000053
is the robot joint angle, FK { } is the positive motion function, J is the jacobian matrix.
(2) X based on the current desired end positiondCalculating the virtual force f generated by the position channel controllerp：
Figure BDA0003374595190000054
Wherein Kp,pAs a position channel proportionality coefficient, Kd,pIs the position channel damping coefficient.
Step 3, designing a speed channel
(1) Firstly, constructing a mapping function of forward and inverse kinematics and Jacobian kinematics based on angular velocity feedback of a robot joint:
Figure BDA0003374595190000061
wherein
Figure BDA0003374595190000062
Is the acceleration of the robot tip, which is obtained by differentiating the tip velocity,
Figure BDA0003374595190000063
is the robot joint angle and J is the jacobian matrix.
(2) Based on the current desired tip movement velocity
Figure BDA0003374595190000064
Calculating a virtual force f generated by a speed channel controllervAnd velocity feedforward virtual force fvff：
Figure BDA0003374595190000065
Wherein Kp,vAs a velocity channel proportionality coefficient, Kd,vAs damping coefficient of velocity channel, Kff,vIs the velocity channel feedforward coefficient.
Step 4, designing an acceleration channel
(1) Firstly, calculating the current terminal supporting force f based on the virtual work principle and the Jacobian matrixest：
fest＝J-Tτm
Wherein tau ismThe resulting joint true torque is measured.
(2) Based on the current desired tip motion acceleration
Figure BDA0003374595190000066
Calculating the virtual force f generated by the acceleration channel controlleraAnd acceleration feedforward virtual force faff：
Figure BDA0003374595190000067
Wherein Kp,aIs the acceleration channel proportionality coefficient, Kd,aAs damping coefficient of acceleration channel, Kff,aIs the feedforward coefficient of the acceleration channel, and m is the robot mass.
Step 5, mixing and superposing the virtual forces based on the control channel enabling signals to obtain total virtual force fF:
fF＝fpGp+(fv+fvff)Gv+(fa+faff)Ga+FfGff
Wherein FfDesired feedforward force, G, to control system inputpBit flag for channel enable, GvBit flag for channel enable, GaBit flag for channel enable, GffThe force feedforward path is flagged.
Step 6, mixing fFConverting into joint torque by virtual work principle, and compensating friction force and gravity feedforwardThen, an actuator torque control command tau is generated, and the flexible control of the robot joint impedance is realized;
Figure BDA0003374595190000071
wherein g (q) is a gravity compensation term,
Figure BDA0003374595190000072
is a friction compensation term.
The method enables the acceleration, speed and position control channels by combining swing track planning constraint and a support state on the basis of traditional force feedforward output, thereby improving the force control robustness of the robot in support and realizing accurate swing track tracking control. The method realizes hybrid control based on a multi-channel control method so as to improve the robustness of support contact force control, realize reliable tracking of expected force, improve the flexibility of mechanism control in the support, adjust the impedance rigidity of the controller through different flexibility requirements, and reduce the influence of different material quality on the force control reliability.

Claims (6)

1. A virtual force servo compliance control method is characterized by comprising the following steps:
step 1, generating an enabling signal G of a position, speed and force control channel based on the support contact condition, swing and other constraints of the tail end of the robot and the groundp、Gv、Ga、Gff；
Step 2, calculating the virtual force f generated by the position channel controller by setting a position channel proportional coefficient and a damping coefficient by using the joint angle of the robot as feedback datap；
And 3, calculating the virtual force f generated by the speed channel controller by setting a speed channel proportional coefficient, a damping coefficient and a feedforward coefficient by using the angular velocity of the robot joint as feedback datavAnd velocity feedforward virtual force fvff；
Step 4, adopting the motion acceleration of the tail end of the robot
Figure FDA0003374595180000012
Calculating the virtual force f generated by the acceleration channel controller by setting the acceleration channel proportionality coefficient, the damping coefficient and the feedforward coefficient as feedback dataaAnd acceleration feedforward virtual force faff；
Step 5, control the enabling signal G of the channel based on the position, the speed and the forcep、Gv、Ga、GffMixing and superposing the virtual forces obtained in the steps 2, 3 and 4 to obtain a total virtual force fF；
Step 6, mixing fFThe joint torque is converted by a virtual work principle, and an actuator torque control command tau is generated after the friction force and gravity feedforward are compensated, so that the joint impedance of the robot is flexibly controlled;
Figure FDA0003374595180000011
wherein g (q) is a gravity compensation term,
Figure FDA0003374595180000013
is a friction compensation term.
2. The virtual force servo compliance control method of claim 1, wherein the method of determining the enable signals for the acceleration, velocity and position channels in step 1 is as follows:
when the swing track has a position planning result, the position channel enables the flag bit GpIs true;
when the swing track has the speed planning result, the speed channel enables the flag bit GvIs true;
when the tail end is in contact with the ground and supported and has an acceleration planning result, the acceleration channel enables the mark bit GaIs true;
force feed forward when the tip is supported in contact with the groundChannel flag bit GffIs true.
3. The virtual force servo compliance control method of claim 2, wherein said step 2 further comprises:
(1) firstly, constructing a mapping function of forward and inverse kinematics and Jacobian kinematics based on robot joint angle feedback:
Figure FDA0003374595180000021
where x is the position of the end of the robot,
Figure FDA0003374595180000022
is the terminal motion velocity, q is the robot joint angle,
Figure FDA0003374595180000029
is the robot joint angle, FK { } is the positive motion function, J is Jacobian matrix;
(2) x based on the current desired end positiondCalculating the virtual force f generated by the position channel controllerp：
Figure FDA0003374595180000023
Wherein Kp,pAs a position channel proportionality coefficient, Kd,pIs the position channel damping coefficient.
4. The virtual force servo compliance control method of claim 3, wherein said step 3 further comprises:
(1) firstly, constructing a mapping function of forward and inverse kinematics and Jacobian kinematics based on angular velocity feedback of a robot joint:
Figure FDA0003374595180000024
wherein
Figure FDA0003374595180000025
Is the acceleration of the robot tip, which is obtained by differentiating the tip velocity,
Figure FDA0003374595180000026
is the robot joint angle, J is the Jacobian matrix;
(2) based on the current desired tip movement velocity
Figure FDA0003374595180000027
Calculating a virtual force f generated by a speed channel controllervAnd velocity feedforward virtual force fvff：
Figure FDA0003374595180000028
Wherein Kp,vAs a velocity channel proportionality coefficient, Kd,vAs damping coefficient of velocity channel, Kff,vIs the velocity channel feedforward coefficient.
5. The virtual force servo compliance control method of claim 4, wherein said step 4 further comprises:
(1) firstly, calculating the current terminal supporting force f based on the virtual work principle and the Jacobian matrixest：
fest＝J-Tτm
Wherein tau ismThe resulting joint true torque is measured.
(2) Based on the current desired tip motion acceleration
Figure FDA0003374595180000031
Calculating the virtual force f generated by the acceleration channel controlleraAnd acceleration feedforward virtual force faff：
Figure FDA0003374595180000032
Wherein Kp,aIs the acceleration channel proportionality coefficient, Kd,aAs damping coefficient of acceleration channel, Kff,aIs the feedforward coefficient of the acceleration channel, and m is the robot mass.
6. The virtual force servo compliance control method of claim 5, wherein in said step 5, the total virtual force f is calculated by using the following formulaF:
fF＝fpGp+(fv+fvff)Gv+(fa+faff)Ga+FfGff
Wherein FfDesired feedforward force, G, to control system inputpBit flag for channel enable, GvBit flag for channel enable, GaBit flag for channel enable, GffThe force feedforward path is flagged.
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