CN114274142B - Robot control method and related device - Google Patents
Robot control method and related device Download PDFInfo
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- CN114274142B CN114274142B CN202111561842.0A CN202111561842A CN114274142B CN 114274142 B CN114274142 B CN 114274142B CN 202111561842 A CN202111561842 A CN 202111561842A CN 114274142 B CN114274142 B CN 114274142B
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Abstract
In the robot control method and the related device, the robot adjusts a preset gain parameter in a feedback control system to be a first coefficient; and in this state, responding to a traction operation of the user; because the first coefficient is greater than the second coefficient when the robot works normally, the robot can indirectly measure the traction direction applied by a user, and then output compensation torque according to the traction direction, so as to overcome coulomb friction in the traction process, and the aims of smaller traction starting torque, smoother traction torque and quicker response are achieved.
Description
Technical Field
The present disclosure relates to the field of robots, and in particular, to a robot control method and related apparatus.
Background
Industrial robots represent an advanced production model because of their high precision, high efficiency and high automation, and are important in industrial modernization processes. Therefore, repeated and dangerous work can be accomplished instead of humans, which is becoming increasingly important in the upgrading and transformation process of the traditional industry.
Wherein, industrial robots need to be programmed before putting into production line for production, and traction teaching is widely used as an on-line programming mode. However, it has been found that the conventional traction teaching gives up feedforward compensation of friction force at zero speed, so that externally applied zero-speed starting torque has to completely overcome coulomb friction, which results in the problem that the conventional traction teaching has high requirement for external starting torque and uneven starting, which is unfavorable for small-scale accurate adjustment.
Disclosure of Invention
To overcome at least one of the deficiencies in the prior art, the present application provides a robot control method and related apparatus, including:
in a first aspect, the present embodiment provides a robot control method applied to a robot having a traction teaching function, the robot being configured with a feedback control system, the method including:
under the condition of a first coefficient, receiving traction operation of a user, wherein the first coefficient is larger than a second coefficient, the first coefficient and the second coefficient represent parameter values of preset gain parameters in the control system, and the second coefficient represents parameter values of the preset gain parameters when the robot works normally;
determining a traction direction generated by the traction operation on a target joint in response to the traction operation;
and outputting the compensation torque of the target joint according to the traction direction, wherein the compensation torque is used for counteracting the Coulomb friction force generated by the traction operation.
In a second aspect, the present embodiment provides a robot control device applied to a robot having a traction teaching function, the robot being configured with a feedback control system, the robot control device including:
the sensing module is used for receiving traction operation of a user under the condition of a first coefficient, wherein the first coefficient is larger than a second coefficient, the first coefficient and the second coefficient represent parameter values of preset gain parameters in the control system, and the second coefficient represents parameter values of the preset gain parameters when the robot works normally;
the response module is used for responding to the traction operation and determining the traction direction of the traction operation on the target joint;
and the compensation module is used for outputting compensation torque of the target joint according to the traction direction, wherein the compensation torque is used for counteracting coulomb friction force generated by the traction operation.
In a third aspect, the present embodiment provides a robot having a traction teaching function and configured with a feedback control system, the robot including a processor and a memory, the memory storing a computer program that, when executed by the processor, implements the robot control method.
In a fourth aspect, the present embodiment provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the robot control method.
Compared with the prior art, the application has the following beneficial effects:
in the robot control method and the related device, the robot adjusts a preset gain parameter in a feedback control system to be a first coefficient; and in this state, responding to a traction operation of the user; because the first coefficient is greater than the second coefficient when the robot works normally, the robot can indirectly measure the traction direction applied by a user, and then output compensation torque according to the traction direction, so as to overcome coulomb friction in the traction process, and the aims of smaller traction starting torque, smoother traction torque and quicker response are achieved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a graph of torque versus external force in a conventional traction teaching provided by an embodiment of the present application;
FIG. 2 is a graph showing the relationship between high gain state torque and external force provided by an embodiment of the present application;
fig. 3 is a schematic circuit diagram of a robot according to an embodiment of the present disclosure;
fig. 4 is one of flowcharts of a robot control method provided in an embodiment of the present application;
fig. 5 is a schematic structural diagram of a feedback control system according to an embodiment of the present application;
FIG. 6 is a second flowchart of a robot control method according to an embodiment of the present disclosure;
FIG. 7 is a diagram comparing conventional traction teachings provided in an embodiment of the present application with control effects of the present application;
fig. 8 is a schematic structural diagram of a robot control device according to an embodiment of the present application.
Icon: 120-memory; 130-a processor; 140-a communication unit; 201-a sensing module; 202-a response module; 203-compensation module.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In order to facilitate a clearer understanding of the objects, technical solutions and advantages of the embodiments of the present application, prior to introducing the robot control method provided in the present embodiment, technical terms related to the industrial machine field will be explained.
Offline programming: off-line programming is convenient and fast as one of the programming modes of industrial robots, but requires accurate 3D models and is susceptible to actual errors.
On-line programming: as another programming method, the robot is usually controlled to reach a specified pose through teaching of a demonstrator and a key point is recorded, so that a running track of the robot is formed. However, teaching the teaching tool is time-consuming when it comes to complex tasks, and therefore, the teaching tool is inefficient when it comes to small-volume production. Alternatively, another way of online programming, the operator applies traction, manually directs the robot to a specified pose and completes the critical point recording, referred to as traction teaching, drag teaching, etc. Traction teaching is divided into active and passive, depending on whether there is a feedback loop of position or force during traction.
Active type: this approach typically requires expensive end or joint torque sensors to detect external forces, and thus, displacement in cartesian space is accomplished by admittance control. To reduce cost, the active traction teaching of a torque-free sensor can be implemented by a variety of torque observer algorithms, however the observer algorithms require an accurate inertial matrix to maintain stability, which is typically obtained by complex physical measurements or CAD (Computer Aided Design ) simulations, many of which do not have measurement or simulation conditions.
Passive form: the method is a convenient and stable joint space teaching method, which enables the robot to respond quickly and dynamically during traction and compensate based on dynamics such as gravity, friction and the like without a sensor; therefore, all torque-free sensor traction teaching methods are highly dependent on accurate kinetic compensation, including gravity and friction. Wherein the dynamic compensation relationship can be expressed as:
T ffw ＝T G +T F
wherein T is ffw Representing feed forward torque, T, for dynamic compensation G Gravity compensation, T F Is friction compensation.
Furthermore, the kinetic model of an industrial robot can be expressed as:
wherein, the liquid crystal display device comprises a liquid crystal display device,
G(q)、/>
T m 、T ext the method sequentially represents inertia force, coriolis force, gravity, friction force, motor torque and external force, q represents the position of a robot joint, position differential represents the speed of the machine joint, and speed differential represents the acceleration of the joint.
The torque term on the left side of the medium sign in the expression can be obtained through dynamic parameter identification; the motor torque and the motor current meet a specific mapping relation, so that the motor torque and the motor current can be indirectly obtained by measuring the current; in the active compensation traction teaching, the external force can be measured by an end sensor.
However, it is found that, in the passive traction mode, since an expensive sensor is not used for detecting the external force, it is difficult to sense the external force applied by the user, so that the conventional passive traction teaching mode gives up the feedforward compensation of the friction force at the time of zero-speed start, which further causes the zero-speed start torque applied externally to completely overcome coulomb friction, so that the conventional traction teaching has the problems of high external start torque requirement, i.e. the need of applying a larger torque by the user during traction teaching, which causes starting to be uneven, which is unfavorable for small-scale accurate adjustment, and the like.
It has further been found that according to the industrial robot dynamics model, externally applied torque is counteracted by motor torque and torque generated by coulomb friction when the robot remains stationary. The corresponding mathematical expression is:
T 1 ＝T 2 +T 3
wherein T is 1 Represents externally applied torque, T 2 Representing motor torque, T 3 Indicating the torque produced by coulomb friction.
From the above expression, it can be found that the torque T is generated by Coulomb friction 3 Smaller means the motor torque T at this time 2 Approximately equal to the externally applied torque of the user, thereby indirectly completing the external force by observing the motor torqueThereby avoiding the use of expensive end moment sensors or joint moment sensors to detect external forces.
It has also been found that the feedback control system of the robot configuration is configured with preset gain parameters that directly affect the dynamic response characteristics of the robot motor at start-up. Therefore, the embodiment can improve the parameter value of the preset gain parameter, reduce the change of the joint speed when the same external force acts, further reduce the change of the coulomb friction when the external force acts, then observe the motor torque to indirectly finish the detection of the external force, and perform feedforward compensation on the coulomb friction according to the observation result of the external force.
As shown in fig. 1, when the parameter value of the preset gain parameter is not increased, there is no obvious following relationship between the torque output by the motor and the external force applied by the user. When the parameter value of the preset gain parameter is increased, as shown in fig. 2, the torque output by the motor and the external force applied by the user show a remarkable following relationship, i.e. the motor torque increases along with the increase of the external force and decreases along with the decrease of the external force.
Based on the findings of the above technical problems, the inventors have devised the following technical solutions to solve or improve the above problems. Thus, the above prior art solutions have all the drawbacks that the inventors have obtained after practice and careful study; as well as the discovery process of the above-mentioned problems and the solutions presented by the embodiments of the present application hereinafter with respect to the above-mentioned problems, should not be construed as a matter of skill known to those skilled in the art as the contribution of the inventors to the present application in the inventive process.
In addition, the embodiment also provides a structural schematic diagram of the robot. As shown in fig. 3, the robot further includes at least a memory 120, a processor 130, and a communication unit 140 on the basis of the robot body.
The memory 120, the processor 130, and the communication unit 140 are electrically connected directly or indirectly to each other to realize data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines.
The Memory 120 may be, but is not limited to, a random access Memory (Random Access Memory, RAM), a Read Only Memory (ROM), a programmable Read Only Memory (Programmable Read-Only Memory, PROM), an erasable Read Only Memory (Erasable Programmable Read-Only Memory, EPROM), an electrically erasable Read Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc. The memory 120 is used for storing a program, and the processor 130 executes the program after receiving an execution instruction.
The communication unit 140 is used for transmitting and receiving data through a network. The network may include a wired network, a wireless network, a fiber optic network, a telecommunications network, an intranet, the internet, a local area network (Local Area Network, LAN), a wide area network (Wide Area Network, WAN), a wireless local area network (Wireless Local Area Networks, WLAN), a metropolitan area network (Metropolitan Area Network, MAN), a wide area network (Wide Area Network, WAN), a public switched telephone network (Public Switched Telephone Network, PSTN), a bluetooth network, a ZigBee network, a near field communication (Near Field Communication, NFC) network, or the like, or any combination thereof. In some embodiments, the network may include one or more network access points. For example, the network may include wired or wireless network access points, such as base stations and/or network switching nodes, through which one or more components of the service request processing system may connect to the network to exchange data and/or information.
Based on the above-described related description, the robot control method in the present embodiment is described in detail below with reference to fig. 4. It should be understood that the operations of the flow diagrams may be performed out of order and that steps that have no logical context may be performed in reverse order or concurrently. Moreover, one or more other operations may be added to the flow diagrams and one or more operations may be removed from the flow diagrams as directed by those skilled in the art. As shown in fig. 4, the method includes:
s101, under the condition of the first coefficient, receiving traction operation of a user.
The first coefficient is larger than the second coefficient, the first coefficient and the second coefficient represent parameter values of preset gain parameters in the control system, and the second coefficient represents parameter values of the preset gain parameters when the robot works normally.
S102, responding to the traction operation, and determining the traction direction of the traction operation on the target joint.
S104, outputting the compensation torque of the target joint according to the traction direction.
Wherein the compensation torque is used to counteract coulomb friction generated by the traction operation.
Illustratively, assuming the robot has 6 degrees of freedom, the target joint is the 5 th joint of the tip, and the feedback control system is a dual closed loop control system including an outer position loop and an inner velocity loop as shown in FIG. 5.
Wherein the position outer ring is used for adjusting the actual measurement position q and the reference position q of the target joint ref Outputting position control information so that the target joint moves to the reference position; the speed inner ring is used for measuring the actual rotation speed and the reference rotation speed of the target joint
And outputting a rotation speed control signal to enable the target joint to keep moving at the reference rotation speed as a result of the comparison.
With continued reference to FIG. 5, it is assumed that the preset gain parameters in this embodiment include the scaling factor K of the outer ring of locations px Scaling factor K of inner velocity loop pv And integral coefficient K iv . When the robot is in a static state, taking into account that a control system of the robot has an automatic adjustment process after power-on, and providing a first timer for the adjustment process; thus, the preset gain parameter K is set px ,K pv ,K iv Resetting the integral of the speed loop and resetting the countdown length of the first timer to t while adjusting the high gain state c1 The first timer is utilized to transition through a transient dynamic process.
After the robot transits a transient dynamic process and the system enters a steady state, the robot is protectedSustain gain parameter K px ,K pv ,K iv A high gain state corresponding to the first coefficient, and the current position is taken as a reference value q ref 。
In this high gain state, receiving a traction operation of the user; since the robot is still in a stationary state at this time, the traction direction of the user's traction operation can be indirectly measured by measuring the current of the motor. Therefore, after the traction direction is obtained, the robot can output a compensation torque according to the traction direction to cancel out coulomb friction generated at the time of traction operation.
After the user traction teaching is completed, the robot sets the preset gain parameter K px ,K pv ,K iv And adjusting to a second coefficient required in normal operation, wherein the second coefficient is smaller than the first coefficient.
Therefore, in the above manner provided by the embodiment, the robot adjusts the preset gain parameter in the feedback control system to the first coefficient; and in this state, responding to a traction operation of the user; because the first coefficient is greater than the second coefficient when the robot works normally, the robot can indirectly measure the traction direction applied by the user, and then output the compensation torque according to the traction direction so as to overcome the coulomb friction in the traction process.
It has also been found that when the robot is in a high gain state, there is a possibility that the robot control may not converge, and therefore, as shown in fig. 5, a saturation module may be added to the output of the high gain controller to suppress the robot, so that the robot may be limited to operate within a preset speed range even in the high gain state.
It has also been found that this traction direction is related to the reference torque of the current position of the robot, and therefore the above-mentioned step S102 may comprise the following embodiments:
s102-1, responding to traction operation, and obtaining output torque of the target joint according to current of the corresponding driving motor of the target joint.
S102-2, comparing the output torque with the reference torque to obtain the traction direction of the traction operation on the target joint.
Wherein the reference torque represents the torque that the target joint is expected to output at the current pose.
In an alternative embodiment, the traction direction includes a first traction direction and a second traction direction, the first traction direction and the second traction direction being in opposite directions, respectively.
Therefore, if the difference between the reference torque and the output torque is greater than the torque threshold, the traction direction is the first traction direction; if the difference between the output torque and the reference torque is greater than the torque threshold, the traction direction is the second traction direction.
Illustratively, the relationship between the traction direction and the output torque and reference torque may be expressed as:
wherein dir represents the traction direction, T r Representing reference torque, T mf Represents output torque lambda t Representing a torque threshold.
In this embodiment, after detecting the external force applied by the user, the robot adjusts the position loop and the speed loop to zero gain state in order to apply torque compensation for the subsequent traction operation, and the joint motor drive only includes feedforward torque compensation T ffw . Thus, as shown in fig. 6, prior to step S104, the method further comprises:
s103, adjusting the parameter value of the preset gain parameter to 0.
It has also been found that there is a large difference in the coulomb friction experienced when the robot joints are at different rotational speeds. Thus, the step S104 may include the following embodiments:
s104-1, acquiring a first rotating speed generated by the target joint under traction operation.
S104-2, outputting a first compensation torque if the first rotation speed is smaller than a first rotation speed threshold value.
It was found that the joint rotation speed was less than the first rotation speed threshold lambda v1 The joint is in critical state of rotation and non-rotationA state, therefore, this state is defined as a zero-speed start state. In addition, in the zero-speed start state, the first compensation torque is correlated with the coulomb friction coefficient of the target joint, and therefore, in the feedforward torque compensation, the following feedforward compensation is performed on the coulomb friction according to the detected traction direction, in addition to the gravity compensation.
Illustratively, the first compensating torque is expressed as:
T F3 ＝α 1 f c ·dir
wherein T is F3 Representing a first compensating torque, alpha 1 Less than or equal to 1 represents a first modulus, f c Indicating the coulomb friction coefficient.
S104-3, obtaining a second rotating speed of the target joint under the action of the traction operation and the first compensation torque.
And S104-4, outputting a second compensation torque if the second rotating speed is greater than or equal to the first rotating speed threshold value.
As in the example above, the joint rotational speed is less than the first rotational speed threshold lambda v1 The joint is in a zero-speed starting state at the moment; thus, if the rotational speed of the joint is greater than or equal to the first rotational speed threshold lambda v1 It means that the robot enters a rotation state from a zero-speed start state. At this time, the expression of the second compensation torque is:
wherein alpha is 2 Less than or equal to 1 represents a second empirical coefficient,
expressing the rotation speed of the target joint, f v Represents the viscous friction coefficient lambda v2 Representing a second speed threshold.
Research also finds that when a user carelessly touches the robot arm of the robot, the robot is easy to enter a zero-speed starting state; the robot is in a zero-speed starting state because the traction operation is not performed, so that the robot cannot be acted by continuous external force like the traction operation; the robot is in a zero-speed starting state for a long time, so that adverse effects are brought to the actual need of traction teaching.
In view of this, the robot acquires a second rotational speed generated under the traction operation and the first compensation torque.
Then, if the robot detects that the rotation speed of the target joint is not greater than or equal to the first rotation speed threshold value within the preset time length, the robot is not in a zero-speed starting state by the traction operation, so that the preset gain parameter is adjusted to be a first coefficient, and a user can conveniently conduct traction teaching operation on the robot next time.
The robot also provides a second timer, and resets the count-down length of the second timer to t when the zero-speed start state is entered c2 The method comprises the steps of carrying out a first treatment on the surface of the Then, the current rotation speed of the target joint is periodically acquired.
In each period, the robot judges whether the rotation speed acquired in the current period is greater than or equal to a first rotation speed threshold value; and outputting a second compensation torque if the rotating speed of the current period is greater than the first rotating speed threshold value.
If the rotating speed of the current period is not greater than the first rotating speed threshold value, the robot judges whether the remaining countdown of the second timer is 0; if the remaining countdown is 0, the fact that the robot is in a zero-speed starting state is not caused by traction operation, so that the preset gain parameter is adjusted to be a first coefficient, and a user can conveniently conduct traction teaching operation on the robot next time; if the remaining count down is not 0, the robot enters the next cycle.
The comparison result of the measured external applied torque and rotational speed waveforms is shown in fig. 7 by comparing the robot control method with the conventional traction teaching method through the same robot. It can be seen that in both methods the slope of the externally applied torque and the magnitude during movement are similar. In the robot control method according to the present embodiment, when the external force exceeds the set threshold λ t Then, the robot can be pulled; whereas in the conventional method, the external force needs to exceed coulomb friction to start traction.
Therefore, by comparison, the advantages of smaller traction starting torque, smoother traction torque and faster response in the robot control method provided by the embodiment are verified.
Based on the same inventive concept as the above method, the present embodiment further provides an apparatus related to the method, including:
the embodiment also provides a robot control device which is applied to a robot with a traction teaching function, and the robot is provided with a feedback control system. The robot control device 110 comprises at least one functional module which can be stored in the form of software in the memory 120. As shown in fig. 8, functionally divided, the robot control device may include:
the sensing module 201 is configured to receive a traction operation of a user under a condition of a first coefficient, where the first coefficient is greater than a second coefficient, the first coefficient and the second coefficient represent parameter values of a preset gain parameter in the control system, and the second coefficient represents parameter values of the preset gain parameter when the robot is working normally.
In this embodiment, the sensing module 201 is used to implement step S101 in fig. 4, and for a detailed description of the sensing module 201, reference may be made to the detailed description of step S101.
A response module 202 for determining a direction of distraction of the target joint by the distraction operation in response to the distraction operation.
In this embodiment, the response module 202 is used to implement step S102 in fig. 4, and for a detailed description of the response module 202, reference may be made to the detailed description of step S102.
The compensation module 203 is configured to output a compensation torque of the target joint according to the traction direction, where the compensation torque is used to offset coulomb friction generated by the traction operation.
In this embodiment, the compensation module 203 is used to implement step S103 in fig. 4, and for a detailed description of the compensation module 203, reference may be made to the detailed description of step S103.
It should be appreciated that in alternative embodiments, the robot control device may also include other software functional modules for implementing other steps or sub-steps of the robot control method described above. In other alternative embodiments, the sensing module 201, the response module 202, and the compensation module 203 may be used to implement other steps or sub-steps of the robot control method. Therefore, the present embodiment is not particularly limited thereto, and those skilled in the art can adapt the present embodiment as needed.
The embodiment also provides a robot which has a traction teaching function and is provided with a feedback control system, wherein the robot comprises a processor and a memory, and the memory stores a computer program which is executed by the processor to realize the robot control method.
The embodiment also provides a computer readable storage medium, and the computer readable storage medium stores a computer program, and when the computer program is executed by a processor, the robot control method is realized.
It should be noted that the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance. Furthermore, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
It should also be understood that the apparatus and method disclosed in this embodiment may be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, flow diagrams and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments of the present application may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely various embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (8)
1. A robot control method applied to a robot having a traction teaching function, the robot being configured with a feedback control system, the method comprising:
under the condition of a first coefficient, receiving traction operation of a user, wherein the first coefficient is larger than a second coefficient, the first coefficient and the second coefficient represent parameter values of preset gain parameters in the control system, and the second coefficient represents parameter values of the preset gain parameters when the robot works normally;
determining a traction direction generated by the traction operation on a target joint in response to the traction operation;
outputting a compensation torque of the target joint according to the traction direction, wherein the compensation torque is used for counteracting coulomb friction generated by the traction operation, and the method comprises the following steps:
acquiring a first rotating speed generated by the target joint under the traction operation;
outputting a first compensation torque if the first rotational speed is less than a first rotational speed threshold;
acquiring a second rotating speed of the target joint under the action of the traction operation and the first compensation torque;
and outputting a second compensation torque if the second rotating speed is greater than or equal to the first rotating speed threshold, wherein the expression of the first compensation torque is as follows:
T F3 ＝α 1 f c ·dir
wherein T is F3 Representing the first compensation torque, alpha 1 Less than or equal to 1 represents a first modulus, f c Representing the coulomb friction coefficient, dir representing the traction direction;
the expression of the second compensation torque is:
wherein alpha is 2 Less than or equal to 1 represents a second empirical coefficient,
expressing the rotation speed f of the target joint v Represents the viscous friction coefficient lambda v2 Representing a second speed threshold.
2. The robot control method according to claim 1, wherein the determining a traction direction generated by the traction operation on a target joint in response to the traction operation includes:
obtaining an output torque of the target joint according to the current of the corresponding driving motor of the target joint in response to the traction operation;
and comparing the output torque with a reference torque to obtain the traction direction of the traction operation on the target joint, wherein the reference torque represents the torque expected to be output by the target joint in the current pose.
3. The robot control method according to claim 2, wherein the traction direction includes a first traction direction and a second traction direction, the first traction direction and the second traction direction being in opposite directions, respectively, the comparing the output torque with a reference torque to obtain a traction direction generated by a traction operation on a target joint, comprising:
if the difference between the reference torque and the output torque is greater than a torque threshold, the traction direction is the first traction direction;
if the difference between the output torque and the reference torque is greater than the torque threshold, the traction direction is the second traction direction.
4. The robot control method according to claim 1, wherein before the outputting of the compensation torque of the target joint according to the traction direction, the method further comprises:
and adjusting the parameter value of the preset gain parameter to 0.
5. The robot control method of claim 1, wherein the feedback control system is a dual closed loop control system comprising an outer position loop and an inner speed loop, and the preset gain parameters comprise a proportional coefficient of the outer position loop, a proportional coefficient of the inner speed loop, and an integral coefficient.
6. A robot control device applied to a robot having a traction teaching function, the robot being provided with a feedback control system, the robot control device comprising:
the sensing module is used for receiving traction operation of a user under the condition of a first coefficient, wherein the first coefficient is larger than a second coefficient, the first coefficient and the second coefficient represent parameter values of preset gain parameters in the control system, and the second coefficient represents parameter values of the preset gain parameters when the robot works normally;
the response module is used for responding to the traction operation and determining the traction direction of the traction operation on the target joint;
the compensation module is used for outputting compensation torque of the target joint according to the traction direction, wherein the compensation torque is used for counteracting coulomb friction force generated by the traction operation, and the compensation module is specifically used for:
acquiring a first rotating speed generated by the target joint under the traction operation;
outputting a first compensation torque if the first rotational speed is less than a first rotational speed threshold;
acquiring a second rotating speed of the target joint under the action of the traction operation and the first compensation torque;
and outputting a second compensation torque if the second rotating speed is greater than or equal to the first rotating speed threshold, wherein the expression of the first compensation torque is as follows:
T F3 ＝α 1 f c ·dir
wherein T is F3 Representing the first compensation torque, alpha 1 Less than or equal to 1 represents a first modulus, f c Representing the coulomb friction coefficient, dir representing the traction direction;
the expression of the second compensation torque is:
wherein alpha is 2 Less than or equal to 1 represents a second empirical coefficient,
expressing the rotation speed f of the target joint v Represents the viscous friction coefficient lambda v2 Representing a second speed threshold.
7. A robot having a traction teaching function and being provided with a feedback control system, the robot comprising a processor and a memory, the memory storing a computer program which, when executed by the processor, implements the robot control method of any one of claims 1-5.
8. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program which, when executed by a processor, implements the robot control method according to any one of claims 1-5.
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