CN114102587B - Robot control method, system, electronic device and storage medium - Google Patents
Robot control method, system, electronic device and storage medium Download PDFInfo
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- CN114102587B CN114102587B CN202111363555.9A CN202111363555A CN114102587B CN 114102587 B CN114102587 B CN 114102587B CN 202111363555 A CN202111363555 A CN 202111363555A CN 114102587 B CN114102587 B CN 114102587B
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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
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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
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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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- 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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The embodiment of the application relates to the technical field of robots and discloses a robot control method, a system, electronic equipment and a storage medium. The robot control method comprises the following steps: acquiring a reference coordinate of the target connecting piece through an actuator of the first joint; the first end of the target connecting piece is connected with the actuator of the first joint, the second end of the target connecting piece is connected with the actuator of the second joint, and the reference coordinate is the actual coordinate of the first end of the target connecting piece or the theoretical coordinate of the second end of the target connecting piece; acquiring the actual coordinates of the second end of the target connecting piece through the IMU of the actuator of the second joint; determining the deformation amount of the target connecting piece according to the reference coordinates and the actual coordinates of the second end of the target connecting piece; according to the deformation quantity, collision detection is carried out, and torque rotation speed feedforward control is carried out when collision occurs, so that the robot using the flexible connecting piece is supported to carry out motion control, and the accuracy of the motion control of the robot is greatly improved.
Description
Technical Field
The embodiment of the application relates to the technical field of robots, in particular to a robot control method, a system, electronic equipment and a storage medium.
Background
Along with the rapid development of robot technology, equipment such as a server robot, a cooperative robot and the like walks into thousands of households, participates in intelligent life of human beings, performs close interaction with the human beings, and helps the human beings perform daily activities through various actions, so that the robot can accurately control the actions of the robot, position sensors are arranged in the executors of each joint of the robot, the position sensors can monitor the rotation angle of each joint of the robot, and coordinate calculation is performed by combining the lengths of connecting rods or connecting pieces, so that the positions of the tail ends of all joints of the robot are calculated, and the action control of the robot is realized.
For service robots operating in homes, schools, hospitals or shops, in order to avoid injuries to humans caused by rigid collisions with humans, the connection members used by the robots are usually flexible connection members, i.e. connection members having elasticity, such as connection members of rubber material.
The inventor of the present application found that when the robot performs motion control, accurate arm length data (i.e., the length of the connecting member) must be known, however, when the acceleration of the flexible connecting member changes or the load changes, a certain degree of elastic deformation is generated in the flexible connecting member, the arm length data changes, the robot cannot perform accurate motion control, and meanwhile, by angle monitoring, the motion control method of the robot that performs coordinate calculation in combination with the arm length data is too complex, and the resource occupancy rate is large, which also results in difficulty in performing accurate motion control for the robot.
Disclosure of Invention
The embodiment of the application aims to provide a robot control method, a system, electronic equipment and a storage medium, which support the motion control of a robot using a flexible connecting piece and greatly improve the accuracy of the motion control of the robot.
In order to solve the above technical problems, an embodiment of the present application provides a robot control method, including the following steps: acquiring a reference coordinate of the target connecting piece through an actuator of the first joint; the first end of the target connecting piece is connected with the actuator of the first joint, the second end of the target connecting piece is connected with the actuator of the second joint, and the reference coordinates are actual coordinates of the first end of the target connecting piece or theoretical coordinates of the second end of the target connecting piece; acquiring actual coordinates of a second end of the target connection through an inertial measurement unit (Inertial Measurement Unit, IMU for short) of an actuator of the second joint; determining the deformation amount of the target connecting piece according to the reference coordinates and the actual coordinates of the second end of the target connecting piece; and according to the deformation quantity, performing collision detection and performing torque rotation speed feedforward control when collision occurs.
The embodiment of the application also provides a robot control system, which comprises: the device comprises an actuator of a first joint, an actuator of a second joint and an upper computer, wherein the actuator of the first joint is connected with a first end of a target connecting piece, the actuator of the second joint is connected with a second end of the target connecting piece, and the actuator of the first joint, the actuator of the second joint and the upper computer are communicated; the actuator of the first joint is used for acquiring the reference coordinate of the target connecting piece; wherein the reference coordinates are actual coordinates of a first end of the target connection or theoretical coordinates of a second end of the target connection; the actuator of the second joint is used for acquiring the actual coordinates of the second end of the target connecting piece through an Inertial Measurement Unit (IMU) of the actuator of the second joint; the upper computer is used for determining the deformation amount of the target connecting piece according to the reference coordinate and the actual coordinate of the second end of the target connecting piece, detecting collision according to the deformation amount, and performing torque rotation speed feedforward control when collision occurs.
The embodiment of the application also provides electronic equipment, which comprises: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the robot control method described above.
Embodiments of the present application also provide a computer-readable storage medium storing a computer program which, when executed by a processor, implements the robot control method described above.
According to the robot control method, the system, the electronic equipment and the storage medium, the first end of the target connecting piece is connected with the actuator of the first joint, the second end of the target connecting piece is connected with the actuator of the second joint, the server firstly obtains the reference coordinate of the target connecting piece through the actuator of the first joint, the reference coordinate is the reference coordinate of the first end of the target connecting piece or the theoretical coordinate of the second end of the target connecting piece, then the actual coordinate of the second end of the target connecting piece is obtained through the IMU of the actuator of the second joint, the deformation amount of the target connecting piece is determined according to the reference coordinate and the actual coordinate of the second end of the target connecting piece, collision detection is carried out according to the deformation amount of the target connecting piece, torque rotation speed feedforward control is carried out when collision occurs, and accurate arm length data are difficult to obtain when the connecting piece is made of rubber or other materials and motion control of the robot cannot be accurately carried out when the flexible connecting piece is used for the robot, the embodiment of the application utilizes the joint coordinates of the two ends of the connecting piece to respectively obtain the reference coordinate of the connecting piece and the actual coordinate of the second end of the target connecting piece, the deformation amount of the moment of the target connecting piece is carried out when the moment of torsion is greater than the actual rotation speed feedforward control is carried out, and the moment of torsion of the flexible connecting piece is carried out when collision control occurs, and the moment of torsion is carried out, and the moment is carried out.
In addition, if the reference coordinate is a theoretical coordinate of the second end of the target connection, the obtaining, by the actuator of the first joint, the reference coordinate of the target connection includes: acquiring a joint angle corresponding to a first joint through an angle sensor of an actuator of the first joint; acquiring theoretical coordinates of the second end of the target connecting piece according to the joint angle and the calibrated length of the target connecting piece; the calibration length is the length of the target connecting piece under the conditions of no load and no acceleration; the determining the deformation of the target connection according to the reference coordinate and the actual coordinate of the second end of the target connection includes: calculating a first distance between a theoretical coordinate of the second end and an actual coordinate of the second end, taking the first distance as a deformation amount of the target connecting piece, namely estimating the coordinate of the second end of the target connecting piece according to the joint angle and the length of the target connecting piece, then obtaining the actual coordinate of the second end of the target connecting piece, taking the distance between the estimated coordinate and the actual coordinate as the deformation amount, and further improving the accuracy of robot motion control.
In addition, if the reference coordinate is an actual coordinate of the first end of the target connection member, the acquiring, by the actuator of the first joint, the reference coordinate of the target connection member includes: acquiring actual coordinates of the first end of the target connecting piece through an IMU of an actuator of the first joint; the determining the deformation of the target connection according to the reference coordinate and the actual coordinate of the second end of the target connection includes: calculating a second distance between the actual coordinates of the first end and the actual coordinates of the second end; calculating a difference value between the second distance and the calibrated length of the target connecting piece, and taking the difference value as the deformation quantity of the target connecting piece; the calibration length is the length of the target connecting piece under the condition of no load and no acceleration, the actual coordinates of the first end and the actual coordinates of the second end of the target connecting piece are obtained through the IMU of the actuator of the first joint and the IMU of the actuator of the second joint respectively, the shape variable is determined according to the second distance between the two actual coordinates and the calibration length of the target connecting piece, and the speed of deformation quantity determination can be improved, so that the efficiency of robot motion control can be improved.
And, if the robot is in a motion state, performing collision detection based on the deformation amount, and performing torque rotation speed feedforward control when a collision occurs, including: calculating the difference between the deformation and the deformation acquired at the previous moment; if the difference between the deformation and the deformation obtained at the previous moment is larger than a preset difference threshold, torque rotation speed feedforward control is carried out; if the difference between the deformation quantity and the deformation quantity acquired at the previous moment is smaller than or equal to a preset difference threshold, continuing to work, wherein when the robot is in a motion state, the deformation quantity is subjected to unacceptable mutation, which indicates that the robot is likely to collide, and torque rotation speed feedforward control is performed at the moment, so that the robot and a user can be protected, and meanwhile, the accuracy of robot motion control is improved.
Further, if the robot is in a stationary state, before performing collision detection based on the deformation amount and performing torque rotation speed feedforward control when a collision occurs, the method includes: estimating the load weight corresponding to the target connecting piece through a vision system of the robot; if the load weight is greater than a preset load weight threshold, directly stopping working, when the robot is in a static state, estimating whether the load hung by the target connecting piece can be born by the robot or not, and if the load can not be born by the robot, directly stopping working, so that the robot is prevented from being damaged.
In addition, before the IMU, which passes through the actuator of the first joint, acquires the actual coordinates of the first end of the target link, the IMU includes: acquiring the geographic position of the robot; according to the geographical position, the IMU of the actuator of the first joint and the IMU of the actuator of the second joint are calibrated, and in different geographical positions, due to the influence of various factors such as gravitational acceleration, regional environment and the like, the configuration required by the IMU may be different.
Drawings
One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings.
FIG. 1 is a flow chart diagram of a method of robot control according to one embodiment of the present application;
FIG. 2 is a schematic illustration of a robotic arm provided in accordance with one embodiment of the application;
FIG. 3 is a schematic diagram II of a robotic arm provided in accordance with one embodiment of the application;
FIG. 4 is a schematic illustration III of a robotic arm provided in accordance with an embodiment of the application;
FIG. 5 is a flow chart II of a robot control method according to another embodiment of the present application;
FIG. 6 is a flowchart III of a robot control method according to another embodiment of the present application;
FIG. 7 is a flow chart of performing IMU calibration in accordance with one embodiment of the present application;
FIG. 8 is a flow chart fourth of a robot control method according to another embodiment of the present application;
FIG. 9 is a flow chart of performing collision detection based on deformation and torque speed feedforward control when a collision occurs, in accordance with one embodiment of the present application;
FIG. 10 is a flow chart of a pre-determination of whether a robot should operate in accordance with one embodiment of the present application;
FIG. 11 is a flow chart of a robotic control system according to another embodiment of the application;
fig. 12 is a schematic structural view of an electronic device according to another embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the embodiments of the present application will be described in detail below with reference to the accompanying drawings. However, it will be understood by those of ordinary skill in the art that in various embodiments of the present application, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, the claimed technical solution of the present application can be realized without these technical details and various changes and modifications based on the following embodiments. The following embodiments are divided for convenience of description, and should not be construed as limiting the specific implementation of the present application, and the embodiments can be mutually combined and referred to without contradiction.
An embodiment of the present application relates to a robot control method, which is applied to an electronic device, where the electronic device may be a terminal or a server, and this embodiment and the following embodiments are described by taking the server as an example, and details of implementation of the robot control method of this embodiment are specifically described below, and the following is merely provided for understanding the implementation details, and is not necessary to implement this embodiment.
The specific flow of the robot control method of this embodiment may be as shown in fig. 1, including:
step 101, acquiring a reference coordinate of a target connecting piece through an actuator of a first joint.
Specifically, the target connecting piece is a flexible connecting piece capable of elastic deformation, as shown in fig. 2, a first end of the target connecting piece is connected with an actuator of a first joint, a second end of the target connecting piece is connected with an actuator of a second joint, the actuator of the first joint can drive the target connecting piece to rotate, the actuator of the second joint can not drive the target connecting piece to rotate, and reference coordinates of the target connecting piece can be actual coordinates of the first end of the target connecting piece or theoretical coordinates of the second end of the target connecting piece.
In one example, the mechanical arm shown in fig. 3 includes a shoulder joint, an elbow joint, a wrist joint, a big arm, a forearm and a palm, the server takes the shoulder joint as a first joint, the big arm as a first target connecting piece, the elbow joint as a second joint, the forearm as a second target connecting piece, the wrist joint as a third joint, the palm as a third target connecting piece, the shoulder joint can drive the big arm to rotate, the elbow joint can drive the forearm to rotate, and the wrist joint can drive the palm to rotate.
In a specific implementation, when the flexible connecting piece is subjected to external force or accelerated change, elastic deformation may occur, as shown in fig. 4, a weight is hung on the target connecting piece of the mechanical arm, so that the target connecting piece is elastically deformed and bent downwards, at this moment, the arm length of the target connecting piece is not equal to the standard arm length calibrated when the connecting piece leaves the factory, the server needs to measure the arm length of the deformed target connecting piece, at this moment, the server indicates the actuator of the first joint, and the reference coordinate of the target connecting piece is obtained.
Step 102, obtaining the actual coordinates of the second end of the target connection piece through the IMU of the actuator of the second joint.
In one example, the server may invoke the IMU of the actuator of the second joint, determine the position of the actuator of the second joint with the first joint as the origin of the spatial coordinate system, or with the center of the robot as the origin of the spatial coordinate system, i.e. determine the position of the second end of the target connection, and obtain the actual coordinates of the second end of the target connection, which are obtained by real modeling, and are accurate, reliable, and trustworthy.
In another example, the server may invoke the IMU of the actuator of the first joint and the IMU of the actuator of the second joint, determine the position of the actuator of the second joint itself, i.e., determine the position of the second end of the target connection, by comparing the data of the IMU of the actuator of the first joint with the data of the IMU of the actuator of the second joint, and obtain the actual coordinates of the second end of the target connection.
And step 103, determining the deformation amount of the target connecting piece according to the reference coordinates and the actual coordinates of the second end of the target connecting piece.
And 104, performing collision detection according to the deformation amount, and performing torque rotation speed feedforward control when collision occurs.
In the specific implementation, the robot moves too fast, the robot loads too much, or the robot collides in the moving process, so that abnormal and oversized deformation of a target connecting piece of the robot is possibly caused, and the server can detect the collision of the robot or the first joint according to the determined deformation of the target connecting piece and perform torque rotation speed feedforward control when the collision occurs, so that the robot is protected from being damaged, and meanwhile, the safety of a user is protected.
In one example, torque speed feedforward control may include, but is not limited to: the original speed, acceleration, deceleration and stop work are maintained.
In one example, the correspondence between the deformation amount and the torque rotation speed feedforward control is stored in the robot, and after the deformation amount of the target connecting piece is determined, the robot can perform corresponding torque rotation speed feedforward control on the robot or the first joint according to the deformation amount and the correspondence.
Compared with the technical scheme of robot motion control by angle monitoring and combining arm length data to perform coordinate calculation, in the embodiment of the application, the first end of the target connecting piece is connected with the actuator of the first joint, the second end of the target connecting piece is connected with the actuator of the second joint, the server firstly acquires the reference coordinate of the target connecting piece through the actuator of the first joint, the reference coordinate is the reference coordinate of the first end of the target connecting piece or the theoretical coordinate of the second end of the target connecting piece, then acquires the actual coordinate of the second end of the target connecting piece through the IMU of the actuator of the second joint, determines the deformation quantity of the target connecting piece according to the reference coordinate and the actual coordinate of the second end of the target connecting piece, and further determines the deformation quantity of the target connecting piece according to the deformation quantity of the target connecting piece, the method and the device have the advantages that collision detection is carried out, torque rotation speed feedforward control is carried out when a collision occurs, and in consideration of the fact that when a connecting piece used by a robot is made of rubber or other materials and is a flexible connecting piece capable of carrying out elastic deformation, accurate arm length data are difficult to obtain, and therefore motion control of the robot cannot be accurately carried out.
Another embodiment of the present application relates to a robot control method, and the following details of implementation of the robot control method of the present embodiment are provided for understanding only, and not essential to implementation of the present embodiment, and the specific flow of the robot control method of the present embodiment may be as shown in fig. 5, and include:
step 201, acquiring a joint angle corresponding to a first joint through an angle sensor of an actuator of the first joint.
Specifically, when the server obtains the reference coordinate of the target connecting piece through the actuator of the first joint, the angle sensor of the actuator of the first joint can be used for obtaining the corresponding joint angle of the first joint, namely the actual angle to which the target connecting piece rotates currently.
In one example, the actuator of the first joint uses itself as the origin of coordinates to establish a three-dimensional rectangular space coordinate system, the actuator of the first joint drives the target connecting piece to rotate with the z-axis as the axis, that is, to swing in the xOy plane formed by the x-axis and the y-axis, and the server can acquire the angle between the target connecting piece and the x-axis as α through the angle sensor of the actuator of the first joint, that is, determine the angle of the joint corresponding to the first joint as α.
Step 202, obtaining theoretical coordinates of the second end of the target connecting piece according to the joint angle and the calibrated length of the target connecting piece.
Specifically, the nominal length of the target connector is the length of the target connector under no-load, no-acceleration conditions, i.e., the standard length of the target connector when it is not deformed.
In one example, the actuator of the first joint drives the target connection member to rotate about the z-axis, that is, to swing in the xOy plane formed by the x-axis and the y-axis, where the calibration length of the target connection member is L, the server determines the joint angle corresponding to the first joint, that is, the angle between the target connection member and the x-axis is α, and the server estimates the position of the second end of the target connection member according to the joint angle and the calibration length of the target connection member, that is, obtains the theoretical coordinates of the second end of the target connection member as (lxcos α, lxsin α, 0).
In step 203, the actual coordinates of the second end of the target connection are obtained by the IMU of the actuator of the second joint.
Step 203 is substantially the same as step 102, and will not be described herein.
And 204, calculating a first distance between the theoretical coordinates of the second end and the actual coordinates of the second end, and taking the first distance as the deformation of the target connecting piece.
In a specific implementation, according to the joint angle and the calibrated length of the target connecting piece, the obtained theoretical coordinate of the second end of the target connecting piece is the position where the target connecting piece should be located under the condition of no deformation, when the target connecting piece is deformed, the second end of the target connecting piece is not located at the position of the theoretical coordinate, but is located at the position of the actual coordinate, the deformation amount of the target connecting piece can be measured to a certain extent by the distance between the actual coordinate and the theoretical coordinate, the first distance between the theoretical coordinate of the second end and the actual coordinate of the second end is calculated by the server, and the first distance is taken as the deformation amount of the target connecting piece.
In step 205, collision detection is performed based on the deformation amount, and torque rotation speed feedforward control is performed when a collision occurs.
Step 205 is substantially the same as step 104, and will not be described herein.
In this embodiment, if the reference coordinate is a theoretical coordinate of the second end of the target connection piece, the obtaining, by the actuator of the first joint, the reference coordinate of the target connection piece includes: acquiring a joint angle corresponding to a first joint through an angle sensor of an actuator of the first joint; acquiring theoretical coordinates of the second end of the target connecting piece according to the joint angle and the calibrated length of the target connecting piece; the calibration length is the length of the target connecting piece under the conditions of no load and no acceleration; the determining the deformation of the target connection according to the reference coordinate and the actual coordinate of the second end of the target connection includes: calculating a first distance between a theoretical coordinate of the second end and an actual coordinate of the second end, taking the first distance as a deformation amount of the target connecting piece, namely estimating the coordinate of the second end of the target connecting piece according to the joint angle and the length of the target connecting piece, then obtaining the actual coordinate of the second end of the target connecting piece, taking the distance between the estimated coordinate and the actual coordinate as the deformation amount, and further improving the accuracy of robot motion control.
Another embodiment of the present application relates to a robot control method, and the following details of implementation of the robot control method of the present embodiment are provided for understanding only, and not essential to implementation of the present embodiment, and the specific flow of the robot control method of the present embodiment may be as shown in fig. 6, and include:
in step 301, the actual coordinates of the first end of the target connection are obtained by the actuator IMU of the first joint.
In a specific implementation, the server may call the IMU of the actuator of the first joint, determine the position of the actuator of the first joint by using the center of the robot as the origin of the spatial coordinate system, that is, determine the position of the first end of the target connection element, and obtain the actual coordinate of the first end of the target connection element, where the coordinate is obtained by real modeling, and is accurate, reliable and trustworthy.
In step 302, the actual coordinates of the second end of the target connection are obtained by the IMU of the actuator of the second joint.
Step 302 is substantially the same as step 102, and will not be described herein.
In step 303, a second distance between the actual coordinates of the first end and the actual coordinates of the second end is calculated.
And 304, calculating a difference value between the second distance and the calibrated length of the target connecting piece, and taking the difference value as the deformation amount of the target connecting piece.
Specifically, the nominal length of the target connector is the length of the target connector under no-load, no-acceleration conditions, i.e., the standard length of the target connector when it is not deformed.
In a specific implementation, if the target connector is not deformed, the second distance between the actual coordinates of the first end and the actual coordinates of the second end should be equal to the calibrated length of the target connector, and when the target connector is deformed, the second distance may be longer or shorter, the server calculates a difference between the second distance and the calibrated length of the target connector, where the difference may measure the deformation amount of the target connector to a certain extent, and the server uses the difference between the second distance and the calibrated length of the target connector as the deformation amount of the target connector.
In step 305, collision detection is performed based on the deformation amount, and torque rotation speed feedforward control is performed when a collision occurs.
Step 305 is substantially the same as step 104, and will not be described herein.
In this embodiment, if the reference coordinate is an actual coordinate of the first end of the target connection piece, the obtaining, by the actuator of the first joint, the reference coordinate of the target connection piece includes: acquiring actual coordinates of the first end of the target connecting piece through an IMU of an actuator of the first joint; the determining the deformation of the target connection according to the reference coordinate and the actual coordinate of the second end of the target connection includes: calculating a second distance between the actual coordinates of the first end and the actual coordinates of the second end; calculating a difference value between the second distance and the calibrated length of the target connecting piece, and taking the difference value as the deformation quantity of the target connecting piece; the calibration length is the length of the target connecting piece under the condition of no load and no acceleration, the actual coordinates of the first end and the actual coordinates of the second end of the target connecting piece are obtained through the IMU of the actuator of the first joint and the IMU of the actuator of the second joint respectively, the shape variable is determined according to the second distance between the two actual coordinates and the calibration length of the target connecting piece, and the speed of deformation quantity determination can be improved, so that the efficiency of robot motion control can be improved.
In one embodiment, the server may perform IMU calibration through the steps shown in fig. 7 before acquiring the actual coordinates of the first end of the target connection through the IMU of the actuator of the first joint, and specifically includes:
step 401, obtaining a geographic location of the robot.
Specifically, the server may turn on a positioning module built in the robot, such as a global positioning system (Global Positioning System, abbreviated as GPS), to obtain the current geographic location of the robot.
Step 402, calibrating the IMU of the actuator of the first joint and the IMU of the actuator of the second joint according to the geographic position.
In a specific implementation, considering that the robot is in different geographic positions, due to the influence of various factors such as gravity acceleration, regional environment and the like, the performance and required configuration of the IMU may be different, and before the IMU is used, the embodiment obtains the geographic position of the robot, and then calibrates the IMU of the actuator of each joint according to the geographic position, so that the accuracy of the acquired data of the IMU is ensured, and the accuracy of the motion control of the robot is further improved.
Another embodiment of the present application relates to a robot control method, and the following details of implementation of the robot control method of the present embodiment are provided for understanding only, and not essential to implementation of the present embodiment, and the specific flow of the robot control method of the present embodiment may be as shown in fig. 8, and includes:
step 501, obtaining, by an actuator of a first joint, a reference coordinate of a target connection and an angular acceleration of the first joint.
Specifically, the actuator of the first joint may acquire the rotational speed and the angular acceleration of the motor of the first joint, that is, the angular speed and the angular acceleration of the rotation of the first joint.
Step 502, obtaining, by the IMU of the actuator of the second joint, an actual coordinate of the second end of the target connection.
In step 503, the deformation amount of the target connection is determined according to the reference coordinates and the actual coordinates of the second end of the target connection.
The steps 502 to 503 are substantially the same as the steps 102 to 103, and are not repeated here.
Step 504, judging whether the deformation is larger than a preset deformation threshold, if so, executing step 505, otherwise, executing step 506.
Step 505, performing torque rotation speed feedforward control according to the angular acceleration of the first joint.
Step 506, operation continues.
In a specific implementation, after determining the deformation amount of the target connecting piece, the server can determine whether the deformation amount is greater than a preset deformation amount threshold, if the deformation amount is greater than the preset deformation amount threshold, the target connecting piece is indicated to have unacceptable deformation, collision is likely to happen, the server performs torque rotation speed feedforward control according to the acquired angular acceleration, if the server determines that the deformation amount is less than or equal to the preset deformation amount threshold, the deformation of the target connecting piece is indicated to be acceptable, the server keeps the robot to work continuously, and the preset deformation amount threshold can be set by a person skilled in the art according to actual needs.
In one embodiment, if the robot is in a motion state, the server performs collision detection according to the deformation amount, and performs torque rotation speed feedforward control when a collision occurs, which may be implemented by the steps shown in fig. 9, specifically including:
in step 601, a difference between the deformation amount and the deformation amount acquired at the previous time is calculated.
Step 602, determining whether the difference between the deformation amount and the deformation amount obtained at the previous moment is greater than a preset difference threshold, if yes, executing step 603, otherwise, executing step 604.
Step 603, performing torque rotation speed feedforward control.
Step 604, operation continues.
In a specific implementation, when the robot is in a motion state, the server can acquire the deformation amount of the target connecting piece at each moment based on a preset time interval, after determining the deformation amount of the target connecting piece at the moment, the server can calculate the difference between the deformation amount and the deformation amount acquired at the last moment and judge whether the difference is larger than a preset difference threshold, if the difference between the deformation amount of the target connecting piece acquired at the moment and the deformation amount acquired at the last moment is larger than the preset difference threshold, the situation that the target connecting piece is subjected to unacceptable deformation mutation is indicated, which is likely to be caused by collision, the server performs torque rotation speed feedforward control on the robot, the robot and a user can be protected, meanwhile, the accuracy of motion control of the robot is improved, and if the difference between the deformation amount of the target connecting piece acquired at the moment and the deformation amount acquired at the last moment is smaller than or equal to the preset difference threshold, the motion of the robot is stable and reasonable, the server indicates that the robot continues to work.
In one embodiment, if the robot is in a stationary state, the electronic device may predict whether the robot should operate by the steps shown in fig. 10 before performing collision detection according to the deformation amount and performing torque rotation speed feedforward control when collision occurs, and specifically includes:
step 701, estimating the load weight corresponding to the target connecting piece through a vision system of the robot.
Specifically, when the robot is in a static state, the server can start the camera of the robot, scan the load borne on the target connecting piece, identify the material, the volume and the type of the load, and estimate the load weight corresponding to the target connecting piece according to the material, the volume and the type of the load.
And step 702, if the load weight is greater than a preset load weight threshold, directly stopping working.
Specifically, after the server estimates the load weight corresponding to the target connecting piece, the server can judge whether the load weight corresponding to the target connecting piece is larger than a preset load weight threshold, if the load weight is larger than the preset load weight threshold, the robot cannot bear the load, and the server controls the robot to stop working; if the load weight is less than or equal to the preset load weight threshold, indicating that the robot can normally bear the load, the server indicates the robot to continue to work, wherein the preset load weight threshold can be set by a person skilled in the art according to actual needs.
In this embodiment, when the robot is in a stationary state, it is estimated whether the load hung on the target connection piece is bearable by the robot, and if not, the robot is directly stopped to avoid damage.
The above steps of the methods are divided, for clarity of description, and may be combined into one step or split into multiple steps when implemented, so long as they include the same logic relationship, and they are all within the protection scope of this patent; it is within the scope of this patent to add insignificant modifications to the algorithm or flow or introduce insignificant designs, but not to alter the core design of its algorithm and flow.
Another embodiment of the present application relates to a robot control system, and the following details of implementation of the robot control system of the present embodiment are provided only for convenience of understanding, and are not essential for implementing the present embodiment, and a schematic diagram of the robot control system of the present embodiment may be shown in fig. 11, and include: the device comprises a first joint actuator 801, a second shutdown actuator 802 and an upper computer 803, wherein the first joint actuator 801 is connected with a first end of a target connecting piece, the second joint actuator 802 is connected with a second end of the target connecting piece, and the first joint actuator 801, the second joint actuator 802 and the upper computer 803 are communicated;
the actuator 801 of the first joint is used for obtaining the reference coordinates of the target connection; the reference coordinates are actual coordinates of the first end of the target connector or theoretical coordinates of the second end of the target connector.
The actuator 802 of the second joint is configured to obtain, via the IMU of the actuator 802 of the second joint, the actual coordinates of the second end of the target connection.
The upper computer 803 is configured to determine an amount of deformation of the target connection according to the reference coordinate and an actual coordinate of the second end of the target connection, perform collision detection according to the amount of deformation, and perform torque rotation speed feedforward control when a collision occurs.
It should be noted that, each module involved in this embodiment is a logic module, and in practical application, one logic unit may be one physical unit, or may be a part of one physical unit, or may be implemented by a combination of multiple physical units. In addition, in order to highlight the innovative part of the present application, units less closely related to solving the technical problem presented by the present application are not introduced in the present embodiment, but it does not indicate that other units are not present in the present embodiment.
Another embodiment of the present application is directed to an electronic device, as shown in fig. 12, comprising: at least one processor 901; and a memory 902 communicatively coupled to the at least one processor 901; wherein the memory 902 stores instructions executable by the at least one processor 901, the instructions being executable by the at least one processor 901 to enable the at least one processor 901 to perform the robot control method in the above embodiments.
Where the memory and the processor are connected by a bus, the bus may comprise any number of interconnected buses and bridges, the buses connecting the various circuits of the one or more processors and the memory together. The bus may also connect various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art, and therefore, will not be described any further herein. The bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or may be a plurality of elements, such as a plurality of receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. The data processed by the processor is transmitted over the wireless medium via the antenna, which further receives the data and transmits the data to the processor.
The processor is responsible for managing the bus and general processing and may also provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions. And memory may be used to store data used by the processor in performing operations.
Another embodiment of the application relates to a computer-readable storage medium storing a computer program. The computer program implements the above-described method embodiments when executed by a processor.
That is, it will be understood by those skilled in the art that all or part of the steps in implementing the methods of the embodiments described above may be implemented by a program stored in a storage medium, where the program includes several instructions for causing a device (which may be a single-chip microcomputer, a chip or the like) or a processor (processor) to perform all or part of the steps in the methods of the embodiments of the application. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, etc., which can store program codes.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples of carrying out the application and that various changes in form and details may be made therein without departing from the spirit and scope of the application.
Claims (10)
1. A robot control method, comprising:
acquiring a reference coordinate of the target connecting piece through an actuator of the first joint; the first end of the target connecting piece is connected with the actuator of the first joint, the second end of the target connecting piece is connected with the actuator of the second joint, and the reference coordinates are actual coordinates of the first end of the target connecting piece or theoretical coordinates of the second end of the target connecting piece;
acquiring an actual coordinate of a second end of the target connecting piece through an Inertial Measurement Unit (IMU) of an actuator of the second joint;
determining the deformation amount of the target connecting piece according to the reference coordinates and the actual coordinates of the second end of the target connecting piece;
and according to the deformation quantity, performing collision detection and performing torque rotation speed feedforward control when collision occurs.
2. The method according to claim 1, wherein if the reference coordinate is a theoretical coordinate of the second end of the target connection member, the acquiring the reference coordinate of the target connection member by the actuator of the first joint includes:
acquiring a joint angle corresponding to a first joint through an angle sensor of an actuator of the first joint;
acquiring theoretical coordinates of the second end of the target connecting piece according to the joint angle and the calibrated length of the target connecting piece; the calibration length is the length of the target connecting piece under the conditions of no load and no acceleration;
the determining the deformation of the target connection according to the reference coordinate and the actual coordinate of the second end of the target connection includes:
and calculating a first distance between the theoretical coordinates of the second end and the actual coordinates of the second end, and taking the first distance as the deformation quantity of the target connecting piece.
3. The method according to claim 1, wherein the reference coordinates are actual coordinates of the first end of the target connection member, and the acquiring the reference coordinates of the target connection member by the actuator of the first joint includes:
acquiring actual coordinates of the first end of the target connecting piece through an IMU of an actuator of the first joint;
the determining the deformation of the target connection according to the reference coordinate and the actual coordinate of the second end of the target connection includes:
calculating a second distance between the actual coordinates of the first end and the actual coordinates of the second end;
calculating a difference value between the second distance and the calibrated length of the target connecting piece, and taking the difference value as the deformation quantity of the target connecting piece; the calibration length is the length of the target connecting piece under the condition of no load and no acceleration.
4. A robot control method according to any one of claims 1 to 3, characterized by further comprising, before said collision detection based on said deformation amount and torque rotation speed feedforward control at the time of collision occurrence:
acquiring the angular acceleration of the first joint through an actuator of the first joint;
and according to the deformation, performing collision detection and torque rotation speed feedforward control when collision occurs, wherein the method comprises the following steps of:
judging whether the deformation is larger than a preset deformation threshold;
if the deformation is larger than a preset deformation threshold, torque rotation speed feedforward control is performed according to the angular acceleration;
and if the deformation is smaller than or equal to a preset deformation threshold, continuing to work.
5. A robot control method according to any one of claims 1 to 3, wherein if the robot is in a motion state, the collision detection is performed based on the deformation amount, and torque rotation speed feedforward control is performed when a collision occurs, comprising:
calculating the difference between the deformation and the deformation acquired at the previous moment;
if the difference between the deformation and the deformation obtained at the previous moment is larger than a preset difference threshold, torque rotation speed feedforward control is carried out;
and if the difference value between the deformation quantity and the deformation quantity acquired at the previous moment is smaller than or equal to a preset difference value threshold, continuing to work.
6. A robot control method according to any one of claims 1 to 3, wherein, if the robot is in a stationary state, before performing collision detection based on the deformation amount and performing torque rotation speed feedforward control at the time of collision occurrence, the method comprises:
estimating the load weight corresponding to the target connecting piece through a vision system of the robot;
and if the load weight is greater than a preset load weight threshold, directly stopping working.
7. A method of controlling a robot according to claim 3, comprising, prior to the obtaining of the actual coordinates of the first end of the target link by the IMU of the actuator of the first joint:
acquiring the geographic position of the robot;
and calibrating the IMU of the actuator of the first joint and the IMU of the actuator of the second joint according to the geographic position.
8. A robot control system, comprising: the device comprises an actuator of a first joint, an actuator of a second joint and an upper computer, wherein the actuator of the first joint is connected with a first end of a target connecting piece, the actuator of the second joint is connected with a second end of the target connecting piece, and the actuator of the first joint, the actuator of the second joint and the upper computer are communicated;
the actuator of the first joint is used for acquiring the reference coordinate of the target connecting piece; wherein the reference coordinates are actual coordinates of a first end of the target connection or theoretical coordinates of a second end of the target connection;
the actuator of the second joint is used for acquiring the actual coordinates of the second end of the target connecting piece through an Inertial Measurement Unit (IMU) of the actuator of the second joint;
the upper computer is used for determining the deformation amount of the target connecting piece according to the reference coordinate and the actual coordinate of the second end of the target connecting piece, detecting collision according to the deformation amount, and performing torque rotation speed feedforward control when collision occurs.
9. An electronic device, comprising:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein, the liquid crystal display device comprises a liquid crystal display device,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the robot control method of any one of claims 1 to 7.
10. A storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the robot control method of any one of claims 1 to 7.
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| CN115416018B (en) * | 2022-08-17 | 2024-03-15 | 雅客智慧（北京）科技有限公司 | End effector deformation compensation method, device, electronic equipment and storage medium |
| CN115519544B (en) * | 2022-10-10 | 2023-12-15 | 深圳进化动力数码科技有限公司 | Fresh sorting robot grabbing method, device, equipment and storage medium |
| CN115431302B (en) * | 2022-11-09 | 2023-03-24 | 广东隆崎机器人有限公司 | Robot joint idle stroke measuring method and device, electronic equipment and storage medium |
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