CN114310912A - Mechanical arm assembly control method and device, mechanical arm control equipment and storage medium - Google Patents
Mechanical arm assembly control method and device, mechanical arm control equipment and storage medium Download PDFInfo
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Abstract
The application provides a mechanical arm assembly control method and device, mechanical arm control equipment and a storage medium, and relates to the technical field of robot control. According to the method and the device, under the conditions that the current actual contact force data of the tail end of the mechanical arm of the assembling mechanical arm and the current actual assembling pose data, expected contact force data and expected assembling pose data of an assembling tool of the assembling mechanical arm are obtained, the assembling contact force data of the assembling tool can be calculated based on the actual contact force data, the assembling pose data to be implemented is calculated by using the spring damping force application model according to the actual assembling pose data, the expected contact force data, the expected assembling pose data and the assembling contact force data to control the assembling mechanical arm to carry out assembling motion, therefore, the assembling operation is carried out by using the real contact force data of the assembling tool and combining the compliance control characteristic and the force control characteristic of the elastic damping force application model, the assembling precision and the assembling efficiency of the assembling mechanical arm are effectively improved, and the assembling safety of the assembling mechanical arm is ensured.
Description
Technical Field
The application relates to the technical field of robot control, in particular to a mechanical arm assembly control method and device, mechanical arm control equipment and a storage medium.
Background
With the continuous development of science and technology, the robot technology has great research value and application value and is widely valued by various industries, wherein the mechanical arm assembly technology is an extremely important application technology for the industrial production industry. In the actual application process of the mechanical arm assembly technology, an assembly tool usually needs to be installed at the tail end of the mechanical arm to be in contact with the external environment, and when the rigidity of the external environment is high, the traditional mechanical arm assembly control scheme often causes the mechanical arm or the assembly tool to collide with the external environment due to the problems of low assembly precision and low assembly efficiency, so that the mechanical arm or the assembly tool is damaged.
Disclosure of Invention
In view of this, an object of the present application is to provide a method and an apparatus for controlling assembly of a robot arm, a robot arm control device, and a storage medium, which can effectively improve assembly accuracy and assembly efficiency during a robot arm assembly operation process, and ensure assembly safety of an assembly robot arm.
In order to achieve the above purpose, the embodiments of the present application employ the following technical solutions:
in a first aspect, the present application provides a robot arm assembly control method, including:
acquiring current actual contact force data of the tail end of a mechanical arm for assembling the mechanical arm, and current actual assembling pose data, expected contact force data and expected assembling pose data of an assembling tool for assembling the mechanical arm;
calculating the current assembling contact force data of the assembling tool based on the actual contact force data according to the relative stress relation between the tail end of the mechanical arm and the assembling tool;
according to the actual assembly pose data, the expected contact force data, the expected assembly pose data and the assembly contact force data, calling a spring damping force application model corresponding to the assembly tool to calculate the current to-be-implemented assembly pose data of the assembly tool;
and controlling the assembling mechanical arm to perform assembling motion according to the assembling pose data to be implemented.
In an alternative embodiment, the step of acquiring the current expected assembly pose data of the assembly tool of the assembly robot arm includes:
acquiring an assembly condition image of a target to be assembled, which is currently shot by assembly monitoring equipment, wherein the working time of the assembly monitoring equipment is consistent with that of the assembly mechanical arm;
and according to the relative position relation between the assembly monitoring equipment and the assembly mechanical arm, performing target pose identification on the target to be assembled in the assembly condition image to obtain the expected assembly pose data.
In an alternative embodiment, the relative force-receiving relationship includes a force and a moment of action of a center of mass of the assembly tool on the end of the manipulator when the assembly robot is not performing the assembly operation, the actual contact force data includes an actual contact force and an actual contact moment of the end of the manipulator detected during the assembly operation performed by the assembly robot, and the step of calculating current assembly contact force data for the assembly tool based on the actual contact force data based on the relative force-receiving relationship between the end of the manipulator and the assembly tool includes:
performing force compensation processing on the actual contact force according to the acting force to obtain an assembling contact force corresponding to the tail end of the assembling tool and included in the assembling contact force data;
and according to the action torque, the assembling contact force, the assembling tool mass center and the relative position relation between the assembling tool tail end and the mechanical arm tail end, performing torque compensation processing on the actual contact torque to obtain the assembling contact torque which is included in the matched contact force data and corresponds to the assembling tool tail end.
In an optional implementation manner, the step of calling a spring damping force application model corresponding to the assembly tool to calculate current to-be-implemented assembly pose data of the assembly tool according to the actual assembly pose data, the expected contact force data, the expected assembly pose data, and the assembly contact force data includes:
calculating actual pose change speed data and actual pose change acceleration data of the assembly tool corresponding to the actual assembly pose data at present, and expected pose change speed data of the assembly tool corresponding to the expected assembly pose data at present;
calculating an assembly pose deviation between the expected assembly pose data and the actual assembly pose data, and an assembly speed deviation between the expected pose change speed data and the actual pose change speed data;
substituting the assembly pose deviation, the assembly speed deviation, the expected contact force data and the assembly contact force data into the spring damping force application model, and solving for the assembly acceleration deviation to be implemented;
adding the actual pose change acceleration data and the solved to-be-implemented assembly acceleration deviation to obtain to-be-implemented assembly acceleration data;
and calculating the assembling pose data to be implemented based on a robot kinematics principle according to the actual assembling pose data and the assembling acceleration data to be implemented.
In an alternative embodiment, the model expression of the spring damping forcing model is as follows:
wherein, FeFor representing the current assembly contact force data of the assembly tool, FdData for indicating the current desired contact force, T, of the assembly tooleFor representing an assembly pose deviation between the expected assembly pose data and the actual assembly pose data,
for representing an assembly speed deviation between expected pose change speed data corresponding to the expected assembly pose data and actual pose change speed data corresponding to the actual assembly pose data,
the system comprises a model database, a model database and a fitting position data base station.
In an alternative embodiment, the parameter component of the stiffness parameter vector at the front force application dimension level of the end of the assembly tool is zero, and the data component of the expected contact force data at the front force application dimension level of the end of the assembly tool is non-zero, so as to achieve the force control effect of the spring damping force application model at the front force application dimension level of the end of the assembly tool.
In an optional embodiment, the parameter component of the stiffness parameter vector at the non-front force application dimensional plane at the end of the assembling tool is non-zero, and the data component of the expected contact force data at the non-front force application dimensional plane at the end of the assembling tool is zero, so as to achieve a compliant control effect of the spring damping force application model at the non-front force application dimensional plane at the end of the assembling tool.
In a second aspect, the present application provides an arm assembly control apparatus, the apparatus comprising:
the device comprises a motion data acquisition module, a data acquisition module and a data acquisition module, wherein the motion data acquisition module is used for acquiring current actual contact force data of the tail end of a mechanical arm for assembling the mechanical arm, and current actual assembly pose data, expected contact force data and expected assembly pose data of an assembly tool for assembling the mechanical arm;
the assembling contact calculation module is used for calculating the current assembling contact force data of the assembling tool based on the actual contact force data according to the relative stress relation between the tail end of the mechanical arm and the assembling tool;
the assembly pose calculation module is used for calling a spring damping force application model corresponding to the assembly tool to calculate the current to-be-implemented assembly pose data of the assembly tool according to the actual assembly pose data, the expected contact force data, the expected assembly pose data and the assembly contact force data;
and the assembly motion control module is used for controlling the assembly mechanical arm to carry out assembly motion according to the to-be-implemented assembly pose data.
In a third aspect, the present application provides a robot arm control apparatus comprising a processor and a memory, the memory storing a computer program executable by the processor, the processor being capable of executing the computer program to implement the robot arm assembly control method of any one of the preceding embodiments.
In a fourth aspect, the present application provides a storage medium having stored thereon a computer program which, when executed by a processor, implements the robot arm fitting control method of any one of the preceding embodiments.
Therefore, the beneficial effects of the embodiment of the application can include the following:
under the conditions of acquiring current actual contact force data of the tail end of a mechanical arm of the assembling mechanical arm, and current actual assembling pose data, expected contact force data and expected assembling pose data of an assembling tool of the assembling mechanical arm, calculating the current assembling contact force data of the assembling tool based on the actual contact force data according to the relative stress relation between the tail end of the mechanical arm and the assembling tool, calling a spring damping force application model corresponding to the assembling tool to calculate the current assembling pose data to be implemented of the assembling tool according to the actual assembling pose data, the expected contact force data, the expected assembling pose data and the assembling contact force data, and controlling the assembling mechanical arm to carry out assembling motion according to the assembling pose data to be implemented, so that the assembling operation is executed by combining the real contact force data of the assembling tool with the compliance control characteristic and the force control characteristic of the elastic damping force application model, the assembling precision and the assembling efficiency in the assembling operation process of the mechanical arm are effectively improved, and the assembling safety of the assembling mechanical arm is ensured.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic composition diagram of a robot arm control apparatus provided in an embodiment of the present application;
FIG. 2 is a schematic view of an installation of a mounting robot and a mounting monitoring device provided in an embodiment of the present application;
fig. 3 is a schematic flow chart of a robot arm assembly control method according to an embodiment of the present disclosure;
FIG. 4 is a flowchart illustrating the sub-steps included in step S220 in FIG. 3;
FIG. 5 is a flowchart illustrating the sub-steps included in step S230 of FIG. 3;
fig. 6 is a schematic composition diagram of a robot assembly control device according to an embodiment of the present disclosure.
Icon: 10-a robotic arm control device; 11-a memory; 12-a processor; 13-a communication unit; 20-assembling a mechanical arm; 21-a robot arm base; 22-a robot arm flange; 23-end of arm; 24-an assembly tool; 25-a mechanical arm joint; 30-assembling a monitoring device; 100-mechanical arm assembly control device; 110-a motion data acquisition module; 120-assembling a contact computation module; 130-an assembly pose calculation module; 140-assembling the motion control module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in 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 obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present application, it is to be understood that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like are used in an orientation or positional relationship as indicated in the drawings, or as would be ordinarily understood by those skilled in the art, simply for convenience in describing and simplifying the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be in any way limiting of the present application.
In the description of the present application, it is further noted that, unless expressly stated or limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. Also, 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 an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
The applicant finds that the existing mechanical arm assembly control scheme has three implementation forms through painstaking research: (1) the working personnel carry out assembly operation based on teaching or by combining a torque sensor to assist the assembly of the mechanical arm; (2) controlling the assembling mechanical arm to perform assembling operation based on a force closed-loop control algorithm of a PID controller or an impedance controller; (3) and controlling the mechanical arm assembly to carry out assembly operation based on a mechanical arm assembly algorithm of machine learning. These three implementations often result in non-ideal control results, mismatch with the actual motion profile of the assembly tool of the assembly robot, and insufficient assembly accuracy and efficiency.
Therefore, the applicant develops a mechanical arm assembly control method and device, mechanical arm control equipment and a storage medium, improves the assembly precision and the assembly efficiency in the mechanical arm assembly operation process, ensures the assembly safety of the assembly mechanical arm, and solves the technical problems existing in the existing mechanical arm assembly control scheme.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Referring to fig. 1, fig. 1 is a schematic diagram illustrating a robot arm control apparatus 10 according to an embodiment of the present disclosure. In the embodiment of the present application, the mechanical arm control device 10 is configured to control a specific assembly motion condition of an assembly mechanical arm, and is capable of effectively determining real contact force data of an assembly tool for assembling the mechanical arm, and controlling the assembly mechanical arm to perform assembly operation by combining compliance control characteristics and force control characteristics of an elastic damping force application model corresponding to the assembly tool, so as to effectively improve assembly accuracy and assembly efficiency during mechanical arm assembly operation, and ensure assembly safety of the assembly mechanical arm. The robot arm control device 10 may be connected to an assembly robot arm in a remote communication manner, or may be integrated with the assembly robot arm to implement a motion control function of the assembly robot arm.
In the present embodiment, the robot arm control apparatus 10 may include a memory 11, a processor 12, a communication unit 13, and a robot arm assembly control device 100. Wherein, the respective elements of the memory 11, the processor 12 and the communication unit 13 are electrically connected to each other directly or indirectly to realize the transmission or interaction of data. For example, the memory 11, the processor 12 and the communication unit 13 may be electrically connected to each other through one or more communication buses or signal lines.
In this embodiment, the Memory 11 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like. The memory 11 is used for storing a computer program, and the processor 12 can execute the computer program after receiving an execution instruction.
In this embodiment, the processor 12 may be an integrated circuit chip having signal processing capabilities. The Processor 12 may be a general-purpose Processor including at least one of a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a Network Processor (NP), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, and discrete hardware components. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like that implements or executes the methods, steps and logic blocks disclosed in the embodiments of the present application.
In this embodiment, the communication unit 13 is configured to establish a communication connection between the robot arm control device 10 and other electronic devices through a network, and to transmit and receive data through the network, where the network includes a wired communication network and a wireless communication network. For example, the robot arm control device 10 may acquire a desired assembly trajectory of an assembly robot arm from an assembly trajectory planning device through the communication unit 13; the robot arm control device 10 may also acquire an assembly condition image of an object to be assembled to which the assembly robot arm needs to be assembled from a certain monitoring device through the communication unit 13 to determine an actual pose condition of the object to be assembled, and use the actual pose condition of the object to be assembled as an assembly pose condition that the assembly robot arm is expected to achieve; the robot control apparatus 10 may also send a motion control instruction to the assembly robot through the communication unit 13, so that the assembly robot moves in accordance with the motion control instruction.
In the present embodiment, the robot arm assembly control device 100 includes at least one software function module that can be stored in the memory 11 in the form of software or firmware or solidified in the operating system of the robot arm control apparatus 10. The processor 12 may be used to execute executable modules stored in the memory 11, such as software functional modules and computer programs included in the robot arm assembly control apparatus 100. The robot arm control apparatus 10 can effectively improve the assembly precision and the assembly efficiency in the robot arm assembly operation process by the robot arm assembly control device 100, and ensure the assembly safety of the assembly robot arm.
It is to be understood that the block diagram shown in fig. 1 is merely one constituent schematic diagram of the robot arm control apparatus 10, and the robot arm control apparatus 10 may further include more or fewer components than those shown in fig. 1, or have a different configuration than that shown in fig. 1. The components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.
With respect to the assembly robot, the distribution of the components of the assembly robot 20 and the assembly monitoring device 30 will be described with reference to the schematic diagram of the assembly robot 20 and the assembly monitoring device 30 shown in fig. 2. In the embodiment of the present application, the assembly robot arm 20 may include a robot arm base 21, a robot arm flange 22, a robot arm end 23, an assembly tool 24, a plurality of robot arm levers and a plurality of robot arm joints 25, the plurality of robot arm levers are hinged to each other through the plurality of robot arm joints 25, two adjacent robot arm levers are hinged to each other through one robot arm joint 25, a first robot arm lever of the plurality of robot arm levers hinged to each other is hinged to the robot arm base 21 through one robot arm joint 25, a last robot arm lever of the plurality of robot arm levers hinged to each other is fixedly connected to the robot arm flange 22, the robot arm end 23 and the assembly monitoring device 30 are mounted side by side on the robot arm flange 22, and the assembly tool 24 is mounted on the robot arm end 23. The assembly monitoring device 30 is configured to monitor a specific assembly condition of the assembly tool 24 for an object to be assembled in real time, the assembly tool 24 is configured to clamp the object to be assembled for assembly, and a force sensor is installed at the end 23 of the mechanical arm, so as to detect external force data (including a corresponding external force value and an external force moment) applied to the end 23 of the mechanical arm through the force sensor.
In this process, a matching robot base coordinate system B may be constructed at the robot base 21 to describe the specific motion conditions of the entire assembly robot 20, a matching flange coordinate system E may be constructed at the robot flange 22 to describe the specific motion conditions of the robot assembly site, a matching tip coordinate system S may be constructed at the robot tip 23 to describe the specific motion conditions of the robot tip 23, a matching centroid coordinate system C may be constructed at the centroid position of the assembly tool 24 to describe the centroid motion conditions of the assembly tool 24, and a matching tool coordinate system T may be constructed at the tip position of the assembly tool 24 to describe the tip motion conditions of the assembly tool 24. At this time, the positive direction of the Z axis in the tool coordinate system T is the positive force application direction of the tip of the assembling tool 24, and represents the positive force application dimension of the tip of the assembling tool 24, the positive direction of the X axis and the positive direction of the Y axis in the tool coordinate system T are the positive plane position variation directions of the tip of the assembling tool 24, the rotation directions around the X axis, the Y axis, or the Z axis are the posture variation directions of the tip of the assembling tool 24, and these five directions represent the non-positive force application dimensions of the tip of the assembling tool 24.
In the present application, in order to ensure that the assembly precision and the assembly efficiency of the assembled mechanical arm 20 can be effectively improved in the mechanical arm assembly process, and ensure the assembly safety of the assembled mechanical arm 20, the embodiment of the present application provides a mechanical arm assembly control method to achieve the foregoing object. The robot arm assembly control method provided by the present application is described in detail below.
Referring to fig. 3, fig. 3 is a schematic flow chart illustrating a robot arm assembly control method according to an embodiment of the present disclosure. In the embodiment of the present application, the robot arm assembly control method may include steps S210 to S250.
Step S210, acquiring current actual contact force data of the tail end of the mechanical arm for assembling the mechanical arm, and current actual assembly pose data, expected contact force data and expected assembly pose data of an assembly tool for assembling the mechanical arm.
In the present embodiment, the current actual contact force data of the robot arm end 23 acquired by the robot arm control apparatus 10 includes the actual contact force value and the actual contact torque detected by the force sensor at the robot arm end 23 directly under the end coordinate system S during the assembly operation performed by the assembly robot arm 20.
If the expected contact force data and the expected assembly pose data acquired by the mechanical arm control device 10 are both described by using the mechanical arm base coordinate system B, coordinate transformation processing may be performed on the expected contact force data and the expected assembly pose data in the mechanical arm base coordinate system B, respectively, based on a coordinate transformation relationship between the tool coordinate system T and the mechanical arm base coordinate system B, to obtain the expected contact force data and the expected assembly pose data in the tool coordinate system T.
In an implementation manner of this embodiment, the robot arm control device 10 may determine actual target pose data of the object to be assembled currently in the robot base coordinate system B by knowing, from the assembly monitoring device 30, the current actual assembly condition of the object to be assembled for which the assembly tool 24 of the assembly robot arm 20 is directed, and perform coordinate transformation processing on the actual target pose data in the robot base coordinate system B to obtain expected assembly pose data of the end of the assembly tool 24 of the assembly robot arm 20 in the tool coordinate system T. The step of acquiring the current expected assembly pose data of the assembly tool 24 of the assembly robot arm 20 includes:
acquiring an assembly condition image of an object to be assembled, which is currently shot by an assembly monitoring device 30, wherein the working time of the assembly monitoring device 30 is consistent with that of the assembly mechanical arm 20;
according to the relative position relationship between the assembly monitoring equipment 30 and the assembly mechanical arm 20, target pose recognition is performed on the target to be assembled in the assembly condition image, and the expected assembly pose data is obtained.
Wherein, the working time of the assembly monitoring device 30 acquiring the assembly condition image is consistent with the acquiring time of the actual assembly pose data of the assembly tool 24 of the assembly robot arm 20, and the assembly monitoring device 30 can adopt a 2D industrial camera to realize the assembly condition monitoring function, so as to improve the assembly pose recognition accuracy and the expected assembly pose recognition efficiency of the robot arm control device 10, ensure that the robot arm control device 10 can control the assembly robot arm 20 to perform tracking assembly operation on the target to be assembled, and further improve the assembly control efficiency of the robot arm control device 10. In this process, the relative positional relationship between the assembly monitoring device 30 and the assembled robot arm 20 is used to describe the coordinate transformation relationship between the camera coordinate system of the assembly monitoring device 30 and the robot arm base coordinate system B of the assembled robot arm 20, so that the robot arm control device 10 obtains the expected assembly pose data in the tool coordinate system T through coordinate transformation processing after determining the current actual pose data of the object to be assembled in the camera coordinate system.
And step S220, calculating the current assembling contact force data of the assembling tool based on the actual contact force data according to the relative stress relation between the tail end of the mechanical arm and the assembling tool.
In the present embodiment, the relative force relationship between the robot arm end 23 and the assembly tool 24 is used to describe specific force data applied to the robot arm end 23 by the assembly tool 24 along with the movement of the robot arm end 23, wherein the relative force relationship includes the acting force (including the specific direction and the specific magnitude of the acting force) and the acting moment applied to the robot arm end 23 by the center of mass of the assembly tool 24 when the assembly robot arm 20 is not performing the assembly operation. In this process, if the postures of the tool coordinate system T and the robot arm base coordinate system B are maintained to be consistent, the acting force is a force component of the gravity of the assembly tool 24 at the center of mass of the assembly tool 24 acting on the robot arm end 23, and the acting moment is a moment component of the gravity of the assembly tool 24 acting on the robot arm end 23. At this time, the relative force-receiving relationship may be combined with the actual contact force data in the end coordinate system S, so as to accurately calculate the assembly contact force data of the end of the assembly tool 24 currently in the tool coordinate system T, thereby effectively improving the assembly accuracy of the robot arm control apparatus 10.
Optionally, referring to fig. 4, fig. 4 is a flowchart illustrating sub-steps included in step S220 in fig. 3. In this embodiment, the actual contact force data of the robot end 23 currently in the end coordinate system S includes the actual contact force (including the specific direction and the specific magnitude of the actual contact force) and the actual contact moment detected by the robot end 23 in the end coordinate system S during the assembly operation performed by the assembly robot 20, and then the step S220 may include a sub-step S221 and a sub-step S222 to accurately calculate the actual contact force data of the end of the assembly tool 24 currently in the tool coordinate system T.
And a substep S221 of performing a force compensation process on the actual contact force according to the applied force to obtain an assembly contact force corresponding to the end of the assembly tool included in the assembly contact force data.
In the present embodiment, the force relationship between the assembly contact force of the tip of the assembly tool 24 currently in the tool coordinate system T, the actual contact force in the tip coordinate system S, and the force acting from the center of mass of the assembly tool 24 to the robot arm tip 23 can be expressed by the following equation:
Wherein,
for representing the actual contact force in said end coordinate system S,
for representing the force applied by the center of mass of the assembly tool 24 to the end 23 of the robot arm,
for representing the fitting contact force in said tool coordinate system T,
for representing the gravity, m, of the assembly tool 24 in the centroid coordinate system CtFor indicating the mass, g, of the assembly tool 24CFor representing a gravity parameter matrix in the centroid coordinate system C,
a pose transformation matrix for representing the tool coordinate system T to the end coordinate system S,
a pose transformation matrix for representing the centroid coordinate system C to the end coordinate system S.
Thus, the robot arm control device 10 may perform the force compensation process on the actual contact force in the end coordinate system S by invoking the above-mentioned force relationship in combination with the force applied to the robot arm end 23 by the center of mass of the assembly tool 24, to obtain the assembly contact force of the end of the assembly tool 24 currently in the tool coordinate system T.
And a substep S222, performing torque compensation processing on the actual contact torque according to the action torque, the assembly contact force, the assembly tool mass center and the relative position relationship between the assembly tool tail end and the mechanical arm tail end, so as to obtain the assembly contact torque corresponding to the assembly tool tail end and included in the matched contact force data.
In the present embodiment, the moment relationship between the fitting contact force and the fitting contact moment of the tip of the fitting tool 24 currently in the tool coordinate system T, the actual contact moment in the tip coordinate system S, the center of mass of the fitting tool 24, and the relative positional relationship between the tip of the fitting tool 24 and the robot arm tip 23 can be expressed by the following equation:
Wherein,
for representing the actual contact moment in said end coordinate system S,
for representing the moment of application of the centre of mass of the assembly tool 24 to the end 23 of the robot arm,
for representing the fitting contact force in said tool coordinate system T,
for representing the fitting contact moment in the tool coordinate system T,
for representing the weight of the assembly tool 24 in the centroid coordinate system C,
a pose transformation matrix for representing the tool coordinate system T to the end coordinate system S,
a pose transformation matrix for representing the centroid coordinate system C to the end coordinate system S,
for representing the gravitational moment of the assembly tool 24 in the centroid coordinate system C. In addition to this, the present invention is,
a position matrix for representing the centroid coordinate system C under the end coordinate system S, representing the relative position relationship of the centroid of the assembly tool 24 and the end 23 of the robot arm;
a matrix representing the position of the tool coordinate system T under the tip coordinate system S, representing the relative positional relationship of the tip of the assembly tool 24 and the robot arm tip 23.
Thus, the robot arm control device 10 may perform the force compensation process on the actual contact torque in the end coordinate system S by invoking the above-mentioned torque relationship, and combining the relative positional relationship between the end of the assembly tool 24 and the robot arm end 23, and the acting force and the acting torque applied to the robot arm end 23 by the centroid of the assembly tool 24, to obtain the assembly contact torque of the end of the assembly tool 24 currently in the tool coordinate system T.
In this case, the present application can precisely calculate the real contact force data of the end of the assembly tool 24 currently under the tool coordinate system T by performing the above sub-steps S221 and S222.
And step S230, calling a spring damping force application model corresponding to the assembling tool to calculate the current assembling pose data to be implemented of the assembling tool according to the actual assembling pose data, the expected contact force data, the expected assembling pose data and the assembling contact force data.
In this embodiment, the spring damping force application model has a compliance control characteristic and a force control characteristic, so as to effectively regulate and control the pose condition of the tail end of the assembly tool 24 at a non-front force application dimension level through the compliance control characteristic, and effectively regulate and control the pressure condition applied to the external environment at the front force application dimension level by the tail end of the assembly tool 24 through the force control characteristic, so that the cooperation between the flexible control mode and the force control mode effectively improves the assembly precision and the assembly efficiency during the mechanical arm assembly operation, and ensures the assembly safety of the mechanical arm assembly 20.
Therefore, when the robot arm control device 10 obtains the actual assembly pose data, the expected contact force data, the expected assembly pose data and the assembly contact force data of the end of the assembly tool 24 in the tool coordinate system T, the actual assembly pose data, the expected contact force data, the expected assembly pose data and the assembly contact force data in the tool coordinate system T are processed by calling the spring damping force application model, so as to obtain the assembly pose data to be implemented, which represents high assembly accuracy and high assembly efficiency, of the end of the assembly tool 24 in the tool coordinate system T, so as to improve the assembly safety of the assembly robot arm 20 during the actual robot arm assembly operation.
Optionally, referring to fig. 5, fig. 5 is a flowchart illustrating sub-steps included in step S230 in fig. 3. In this embodiment, the step S230 may include substeps S231 to substep S235, so as to effectively invoke a spring damping force application model to improve the assembly accuracy and the assembly efficiency, and ensure the assembly safety of the assembled robot arm 20.
And a substep S231 of calculating actual pose change speed data and actual pose change acceleration data of the assembly tool currently corresponding to the actual assembly pose data, and expected pose change speed data of the assembly tool currently corresponding to the expected assembly pose data.
In this embodiment, the robot arm control device 10 may perform first-order integral derivation processing and second-order integral derivation processing on actual assembly pose data of the end of the assembly tool 24 currently in the tool coordinate system T based on a robot kinematics principle to obtain actual pose change speed data and actual pose change acceleration data of the end of the assembly tool 24 currently in the tool coordinate system T, and perform first-order integral derivation processing and second-order integral derivation processing on expected assembly pose data of the end of the assembly tool 24 currently in the tool coordinate system T to obtain expected pose change speed data of the end of the assembly tool 24 currently in the tool coordinate system T.
And a substep S232 of calculating an assembly pose deviation between the expected assembly pose data and the actual assembly pose data, and an assembly speed deviation between the expected pose change speed data and the actual pose change speed data.
In this embodiment, the robot arm control device 10 may obtain an assembly pose deviation in the tool coordinate system T by performing matrix subtraction on the expected assembly pose data and the actual assembly pose data in the tool coordinate system T, and obtain an assembly velocity deviation in the tool coordinate system T by performing matrix subtraction on the expected pose change velocity data and the actual pose change velocity data in the tool coordinate system T.
And a substep S233, substituting the assembly pose deviation, the assembly speed deviation, the expected contact force data and the assembly contact force data into the spring damping force application model, and solving for the assembly acceleration deviation to be implemented.
In this embodiment, the model expression of the spring damping forcing model is as follows:
wherein, FeFor indicating the current assembly contact force data, F, of the assembly tool 24dFor indicating the current desired contact force data, H, of the assembly tool 24eFor representing an assembly pose deviation between the expected assembly pose data and the actual assembly pose data,
for representing an assembly speed deviation between expected pose change speed data corresponding to the expected assembly pose data and actual pose change speed data corresponding to the actual assembly pose data,
for representing the assembly acceleration deviation to be implemented corresponding to the assembly pose data to be implemented, M is used for representing the inertial parameter vector of the assembly tool 24 at the spring damping force application model, B is used for representing the damping parameter vector of the assembly tool 24 at the spring damping force application model, and K is used for representing the stiffness parameter vector of the assembly tool 24 at the spring damping force application model. In the process, each item of data needing to be substituted into the spring damping force application model needs to be in the same tool coordinate system T, the inertia parameter vector, the damping parameter vector and the stiffness parameter vector need to accord with a closed loop transfer function of a second-order system, and a vector numerical relation among the inertia parameter vector, the damping parameter vector and the stiffness parameter vector is
ξ is used to represent the system damping ratio of the assembled robotic arm 20.
In this embodiment, the parameter component of the stiffness parameter vector at the front force application dimension of the end of the assembling tool 24 is zero, and the data component of the expected contact force data at the front force application dimension of the end of the assembling tool 24 is non-zero, so as to achieve the force control effect of the spring damping force application model at the front force application dimension of the end of the assembling tool 24, that is, construct the force control mode of the spring damping force application model.
In this embodiment, the parameter component of the stiffness parameter vector at the non-front force application dimensional layer at the end of the assembling tool 24 is non-zero, and the data component of the expected contact force data at the non-front force application dimensional layer at the end of the assembling tool 24 is zero, so as to achieve the compliant control effect of the spring damping force application model at the non-front force application dimensional layer at the end of the assembling tool 24, that is, construct the compliant control mode of the spring damping force application model.
In this case, the robot arm control device 10 may substitute the assembly pose deviation, the assembly speed deviation, the expected contact force data, and the assembly contact force data in the tool coordinate system T into the spring damping force application model to perform parameter solution, so as to obtain the assembly acceleration deviation to be implemented in the tool coordinate system T.
And a substep S234 of performing addition operation on the actual pose change acceleration data and the solved to-be-implemented assembly acceleration deviation to obtain to-be-implemented assembly acceleration data.
In this embodiment, the mechanical arm control device 10 may add the actual pose change acceleration data in the tool coordinate system T and the solved to-be-implemented assembly acceleration deviation to obtain to-be-implemented assembly acceleration data in the tool coordinate system T.
And a substep S235 of calculating the assembling pose data to be implemented based on the kinematics principle of the robot according to the actual assembling pose data and the assembling acceleration data to be implemented.
In this embodiment, the robot arm control device 10 may perform differential processing by using a robot kinematics principle according to actual assembly pose data and to-be-implemented assembly acceleration data in the tool coordinate system T when calculating to-be-implemented assembly acceleration data in the tool coordinate system T, so as to obtain to-be-implemented assembly pose data of the tail end of the assembly tool 24 currently in the tool coordinate system T.
Therefore, the present application can effectively invoke the spring damping force application model by performing the above substeps S231 to substep S235, thereby improving the assembly accuracy and the assembly efficiency and ensuring the assembly safety of the assembled robot arm 20.
And step S240, controlling the assembling mechanical arm to perform assembling movement according to the assembling pose data to be implemented.
In this embodiment, after the robot arm control device 10 calculates the to-be-implemented assembly pose data of the end of the assembly tool 24 currently in the tool coordinate system T, the to-be-implemented assembly pose data in the tool coordinate system T is subjected to coordinate transformation processing according to the coordinate transformation relationship between the robot arm base coordinate system B and the tool coordinate system T to obtain the to-be-implemented assembly pose data of the end of the assembly tool 24 currently in the robot arm base coordinate system B, so that the joint driving positions, the joint driving speeds, and the joint driving accelerations of all the robot arm joints 25 included in the assembly robot arm 20 in the corresponding joint spaces are determined according to the to-be-implemented assembly pose data in the robot arm base coordinate system B, so as to determine the joint driving positions, the joint driving speeds, and the joint driving accelerations of all the robot arm joints 25 in the corresponding joint spaces according to the determined joint driving positions, the determined by the robot arm joints 25 in the corresponding joint spaces, The joint driving speed and the joint driving acceleration control the corresponding mechanical arm joint 25 to move, thereby realizing the assembling operation control of the assembling mechanical arm 20.
Therefore, the present application can perform the assembly operation by performing the above steps S210 to S240, and using the real contact force data of the assembly tool 24 in combination with the compliance control characteristic and the force control characteristic of the elastic damping force application model, and effectively improve the assembly accuracy and the assembly efficiency during the mechanical arm assembly operation, thereby ensuring the assembly safety of the assembly mechanical arm 20.
In the present application, in order to ensure that the robot arm control apparatus 10 can execute the robot arm assembly control method described above by the robot arm assembly control device 100, the present application realizes the aforementioned functions by performing functional block division on the robot arm assembly control device 100. The following describes the specific components of the robot arm assembly control apparatus 100 provided in the present application.
Referring to fig. 6, fig. 6 is a schematic composition diagram of a robot assembly control apparatus 100 according to an embodiment of the present disclosure. In the embodiment of the present application, the robot arm assembly control apparatus 100 may include a motion data acquisition module 110, an assembly contact calculation module 120, an assembly pose calculation module 130, and an assembly motion control module 140.
A motion data acquiring module 110, configured to acquire current actual contact force data of the end of the mechanical arm of the assembly mechanical arm, and current actual assembly pose data, expected contact force data, and expected assembly pose data of an assembly tool of the assembly mechanical arm.
And the assembly contact calculation module 120 is configured to calculate current assembly contact force data of the assembly tool based on the actual contact force data according to the relative force relationship between the end of the mechanical arm and the assembly tool.
An assembly pose calculation module 130, configured to call a spring damping force application model corresponding to the assembly tool to calculate current to-be-implemented assembly pose data of the assembly tool according to the actual assembly pose data, the expected contact force data, the expected assembly pose data, and the assembly contact force data.
And the assembling motion control module 140 is configured to control the assembling mechanical arm to perform assembling motion according to the assembling pose data to be implemented.
The basic principle and the technical effects of the robot arm assembly control apparatus 100 according to the embodiment of the present invention are the same as those of the robot arm assembly control method described above. For a brief description, where not mentioned in this embodiment section, reference may be made to the above description of the robot arm assembly control method.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to 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, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part. The functions may be stored in a storage medium if they are implemented in the form of software function modules and sold or used as separate products. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to 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), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In summary, in the robot arm assembly control method and apparatus, the robot arm control device, and the storage medium provided by the present application, under the condition that the current actual contact force data of the robot arm end of the assembly robot arm, and the current actual assembly pose data, the expected contact force data, and the expected assembly pose data of the assembly tool of the assembly robot arm are acquired, the current assembly contact force data of the assembly tool is calculated based on the actual contact force data according to the relative stress relationship between the robot arm end and the assembly tool, then the current to-be-implemented assembly pose data of the assembly tool is calculated by calling the spring damping force application model corresponding to the assembly tool according to the actual assembly pose data, the expected contact force data, the expected assembly pose data, and the assembly contact force data, and the assembly robot arm is controlled to perform the assembly motion according to-be-implemented assembly pose data, therefore, the assembly operation is executed by combining the real contact force data of the assembly tool with the compliance control characteristic and the force control characteristic of the elastic damping force application model, the assembly precision and the assembly efficiency in the mechanical arm assembly operation process are effectively improved, and the assembly safety of the assembly mechanical arm is ensured.
The above description is only for 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 conceive of changes or substitutions within the technical scope of the present application, and all such changes or substitutions are included 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 (10)
1. A robot arm assembly control method, characterized by comprising:
acquiring current actual contact force data of the tail end of a mechanical arm for assembling the mechanical arm, and current actual assembling pose data, expected contact force data and expected assembling pose data of an assembling tool for assembling the mechanical arm;
calculating the current assembling contact force data of the assembling tool based on the actual contact force data according to the relative stress relation between the tail end of the mechanical arm and the assembling tool;
according to the actual assembly pose data, the expected contact force data, the expected assembly pose data and the assembly contact force data, calling a spring damping force application model corresponding to the assembly tool to calculate the current to-be-implemented assembly pose data of the assembly tool;
and controlling the assembling mechanical arm to perform assembling motion according to the assembling pose data to be implemented.
2. The method according to claim 1, wherein the step of acquiring current expected assembly pose data of the assembly tool of the assembly robot arm comprises:
acquiring an assembly condition image of a target to be assembled, which is currently shot by assembly monitoring equipment, wherein the working time of the assembly monitoring equipment is consistent with that of the assembly mechanical arm;
and according to the relative position relation between the assembly monitoring equipment and the assembly mechanical arm, performing target pose identification on the target to be assembled in the assembly condition image to obtain the expected assembly pose data.
3. The method of claim 1, wherein the relative force-bearing relationship comprises a force and a moment of action of a center of mass of a mounting tool on the end of the robotic arm when the mounting robotic arm is not performing a mounting operation, and the actual contact force data comprises an actual contact force and an actual contact moment of the end of the robotic arm detected during the mounting operation performed by the mounting robotic arm, the step of calculating current mounting contact force data for the mounting tool based on the actual contact force data based on the relative force-bearing relationship between the end of the robotic arm and the mounting tool comprising:
performing force compensation processing on the actual contact force according to the acting force to obtain an assembling contact force corresponding to the tail end of the assembling tool and included in the assembling contact force data;
and according to the action torque, the assembling contact force, the assembling tool mass center and the relative position relation between the assembling tool tail end and the mechanical arm tail end, performing torque compensation processing on the actual contact torque to obtain the assembling contact torque which is included in the matched contact force data and corresponds to the assembling tool tail end.
4. The method according to claim 1, wherein the step of calculating the current to-be-implemented assembly pose data of the assembly tool by calling a spring damping force application model corresponding to the assembly tool according to the actual assembly pose data, the expected contact force data, the expected assembly pose data and the assembly contact force data comprises:
calculating actual pose change speed data and actual pose change acceleration data of the assembly tool corresponding to the actual assembly pose data at present, and expected pose change speed data of the assembly tool corresponding to the expected assembly pose data at present;
calculating an assembly pose deviation between the expected assembly pose data and the actual assembly pose data, and an assembly speed deviation between the expected pose change speed data and the actual pose change speed data;
substituting the assembly pose deviation, the assembly speed deviation, the expected contact force data and the assembly contact force data into the spring damping force application model, and solving for the assembly acceleration deviation to be implemented;
adding the actual pose change acceleration data and the solved to-be-implemented assembly acceleration deviation to obtain to-be-implemented assembly acceleration data;
and calculating the assembling pose data to be implemented based on a robot kinematics principle according to the actual assembling pose data and the assembling acceleration data to be implemented.
5. The method according to any one of claims 1 to 4, wherein the model expression of the spring damping forcing model is as follows:
wherein, FeFor representing the current assembly contact force data of the assembly tool, FdData for indicating the current desired contact force of the assembly tool, HeFor representing an assembly pose deviation between the expected assembly pose data and the actual assembly pose data,
for representing an assembly speed deviation between expected pose change speed data corresponding to the expected assembly pose data and actual pose change speed data corresponding to the actual assembly pose data,
the system comprises a model database, a model database and a fitting position data base station.
6. The method of claim 5, wherein the stiffness parameter vector has a parameter component at a front force application dimension level of the assembly tool tip of zero, and the expected contact force data has a data component at the front force application dimension level of the assembly tool tip of non-zero to achieve a force control effect of the spring-damped force model at the front force application dimension level of the assembly tool tip.
7. The method of claim 6, wherein the stiffness parameter vector has a non-zero parameter component at a non-positive force application dimensional level at the end of the assembly tool, and the expected contact force data has a zero data component at the non-positive force application dimensional level at the end of the assembly tool to achieve a compliant control effect of the spring-damped force application model at the non-positive force application dimensional level at the end of the assembly tool.
8. An arm assembly control apparatus, comprising:
the device comprises a motion data acquisition module, a data acquisition module and a data acquisition module, wherein the motion data acquisition module is used for acquiring current actual contact force data of the tail end of a mechanical arm for assembling the mechanical arm, and current actual assembly pose data, expected contact force data and expected assembly pose data of an assembly tool for assembling the mechanical arm;
the assembling contact calculation module is used for calculating the current assembling contact force data of the assembling tool based on the actual contact force data according to the relative stress relation between the tail end of the mechanical arm and the assembling tool;
the assembly pose calculation module is used for calling a spring damping force application model corresponding to the assembly tool to calculate the current to-be-implemented assembly pose data of the assembly tool according to the actual assembly pose data, the expected contact force data, the expected assembly pose data and the assembly contact force data;
and the assembly motion control module is used for controlling the assembly mechanical arm to carry out assembly motion according to the to-be-implemented assembly pose data.
9. A robot arm control apparatus characterized by comprising a processor and a memory, the memory storing a computer program executable by the processor, the processor being capable of executing the computer program to implement the robot arm fitting control method according to any one of claims 1 to 7.
10. A storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the robotic arm assembly control method of any of claims 1-7.
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