CN114326769B - Robot motion correction method and device, robot control equipment and storage medium - Google Patents
Robot motion correction method and device, robot control equipment and storage medium Download PDFInfo
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Abstract
The application provides a robot motion correction method and device, robot control equipment and a storage medium, and relates to the technical field of robot control. According to the method, the target jacobian matrix of the kinematic association relation of the leg parallel mechanism and the tail end attitude angular speed of the leg parallel mechanism at the current moment is determined according to the mechanism motion state information of the leg parallel mechanism of the target biped robot at the current moment, then the mechanism motion optimization is carried out according to the attitude angular speed constraint condition, the target jacobian matrix and the expected joint angular speed of the leg parallel mechanism at the next moment, the difference between the expected joint angular speed and the driving joint angular speed corresponding to the target tail end attitude angular speed is minimized, the corresponding target tail end attitude angular speed is obtained, the joint speed of the leg parallel mechanism is effectively limited, the body jump phenomenon of the leg parallel mechanism near the mechanism limiting position is improved, and the motion stability of the biped robot is improved.
Description
Technical Field
The present disclosure relates to the field of robot control technologies, and in particular, to a robot motion correction method and apparatus, a robot control device, and a storage medium.
Background
With the continuous development of science and technology, the robot technology is widely valued by various industries because of having great research value and application value, wherein bipedal robot control is an important research direction in the technical field of robot control. The parallel mechanism is gradually applied to the walking control process of the biped robot due to the characteristics of low inertia, high rigidity, high bearing capacity, high speed capacity, excellent dexterity and the like, so as to construct the leg structure of the biped robot, replace the original ankle joint driving effect of the biped robot and reduce the rotational inertia of the legs.
Notably, the motion control effect of the leg parallel mechanism of the existing bipedal robot is usually realized by adopting a numerical iterative algorithm. The numerical iterative algorithm has the problem of large calculation error in the related calculation of the leg parallel mechanism near the mechanism limit position, and is extremely easy to cause the body jump phenomenon of the leg parallel mechanism near the mechanism limit position, so that the motion stability of the bipedal robot is affected.
Disclosure of Invention
In view of the above, an object of the present application is to provide a robot motion correction method and apparatus, a robot control device, and a storage medium, which can effectively limit a joint speed of a leg parallel mechanism, and enable the leg parallel mechanism to effectively avoid a singular position near a mechanism limit position, improve a body jump phenomenon, and improve a motion stability of a bipedal robot.
In order to achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:
in a first aspect, the present application provides a method for correcting motion of a robot, the method comprising:
acquiring mechanism motion state information of a leg parallel mechanism of a target biped robot at the current moment;
determining a target jacobian matrix of the leg parallel mechanism at the current moment according to the mechanism motion state information, wherein the target jacobian matrix is used for describing a kinematic association relationship between the driving joint angular speed and the tail end gesture angular speed of the leg parallel mechanism;
and carrying out mechanism motion optimization with the aim of minimizing joint angular velocity difference according to the attitude angular velocity constraint condition, the target jacobian matrix and the expected joint angular velocity of the leg parallel mechanism at the next moment to obtain the target tail end attitude angular velocity of the leg parallel mechanism at the next moment, wherein the joint angular velocity difference is used for representing the difference between the expected joint angular velocity and the driving joint angular velocity corresponding to the target tail end attitude angular velocity.
In an alternative embodiment, the mechanism motion state information includes an actual end pose angle at a current time, a first virtual link vector and a second virtual link vector between an end of the mechanism and a driving joint, a first driving link vector and a second driving link vector between the driving joint and an intermediate joint rotation axis, a first intermediate link vector and a second intermediate link vector between the intermediate joint rotation axis and the end joint rotation axis, and a first rotation direction vector and a second rotation direction vector of the intermediate joint rotation axis, and the step of determining a target jacobian matrix of the leg parallel mechanism at the current time according to the mechanism motion state information includes:
constructing a matched first jacobian matrix for the terminal generalized speed of the leg parallel mechanism according to the first intermediate link vector, the second intermediate link vector, the first virtual link vector and the second virtual link vector;
constructing a matched second jacobian matrix for the angular velocity of the driving joint of the leg parallel mechanism according to the first driving connecting rod vector, the second driving connecting rod vector, the first rotation direction vector, the second rotation direction vector, the first intermediate connecting rod vector and the second intermediate connecting rod vector;
Constructing an incidence relation matrix between the tail end generalized speed and the tail end attitude angular speed of the leg parallel mechanism according to the actual tail end attitude angle;
and constructing and forming the target jacobian matrix based on robot kinematics according to the first jacobian matrix, the second jacobian matrix and the association relation matrix.
In an alternative embodiment, the matrix relationship among the target jacobian matrix, the first jacobian matrix, the second jacobian matrix, and the association matrix is expressed using the following formula:
wherein J is jac For representing the target jacobian matrix, J h For representing the first jacobian matrix, J θ For representing the second jacobian matrix, G for representing the association matrix,for representing said first intermediate link vector, < >>For representing said second intermediate link vector, < >>For representing said first virtual link vector, < >>For representing the second virtual linkVector (S)>For representing said first rotational direction vector, -a first rotational direction vector>For representing said second rotational direction vector, -a second rotational direction vector>For representing said first drive link vector, < >>For representing the second drive link vector, q pitch For representing an actual tip pitch angle comprised by said actual tip attitude angle.
In an alternative embodiment, the method further comprises:
performing mathematical integral operation on the target tail end attitude angular speed to obtain an expected tail end attitude angle of the leg parallel mechanism at the next moment;
and controlling the leg parallel mechanism to move according to the expected tail end attitude angle.
In a second aspect, the present application provides a robotic motion orthotic device, the device comprising:
the mechanism information acquisition module is used for acquiring mechanism motion state information of the leg parallel mechanism of the target bipedal robot at the current moment;
the running matrix determining module is used for determining a target jacobian matrix of the leg parallel mechanism at the current moment according to the mechanism motion state information, wherein the target jacobian matrix is used for describing a kinematic association relation between the driving joint angular speed and the tail end attitude angular speed of the leg parallel mechanism;
and the mechanism motion optimization module is used for carrying out mechanism motion optimization by taking the minimum joint angular velocity difference as an optimization purpose according to the attitude angular velocity constraint condition, the target jacobian matrix and the expected joint angular velocity of the leg parallel mechanism at the next moment to obtain the target tail end attitude angular velocity of the leg parallel mechanism at the next moment, wherein the joint angular velocity difference is used for representing the difference between the expected joint angular velocity and the driving joint angular velocity corresponding to the target tail end attitude angular velocity.
In an alternative embodiment, the mechanism motion state information includes an actual end attitude angle at a current time, a first virtual link vector and a second virtual link vector between an end of the mechanism and a driving joint, a first driving link vector and a second driving link vector between the driving joint and an intermediate joint rotation axis, a first intermediate link vector and a second intermediate link vector between the intermediate joint rotation axis and the end joint rotation axis, a first rotation direction vector and a second rotation direction vector of the intermediate joint rotation axis, and the operation matrix determining module includes:
a first matrix construction sub-module, configured to construct a matched first jacobian matrix for a terminal generalized speed of the leg parallel mechanism according to the first intermediate link vector, the second intermediate link vector, the first virtual link vector, and the second virtual link vector;
a second matrix construction sub-module, configured to construct a matched second jacobian matrix for a driving joint angular velocity of the leg parallel mechanism according to the first driving link vector, the second driving link vector, the first rotational direction vector, the second rotational direction vector, the first intermediate link vector, and the second intermediate link vector;
The incidence matrix construction submodule is used for constructing an incidence relation matrix between the tail end generalized speed and the tail end attitude angular speed of the leg parallel mechanism according to the actual tail end attitude angle;
and the motion matrix construction submodule is used for constructing and forming the target jacobian matrix based on robot kinematics according to the first jacobian matrix, the second jacobian matrix and the association relation matrix.
In an alternative embodiment, the matrix relationship among the target jacobian matrix, the first jacobian matrix, the second jacobian matrix, and the association matrix is expressed using the following formula:
wherein J is jac For representing the target jacobian matrix, J h For representing the first jacobian matrix, J θ For representing the second jacobian matrix, G for representing the association matrix,for representing said first intermediate link vector, < >>For representing said second intermediate link vector, < >>For representing said first virtual link vector, < >>For representing said second virtual link vector, < >>For representing said first rotational direction vector, -a first rotational direction vector>For representing said second rotational direction vector, -a second rotational direction vector >For representing said first drive link vector, < >>For representing the second drive link vector, q pitch For representing the real objectThe actual tip attitude angle is included in the actual tip pitch angle.
In an alternative embodiment, the apparatus further comprises:
the tail end attitude calculation module is used for carrying out mathematical integral operation on the target tail end attitude angular speed to obtain an expected tail end attitude angle of the leg parallel mechanism at the next moment;
and the mechanism motion control module is used for controlling the leg parallel mechanism to move according to the expected tail end attitude angle.
In a third aspect, the present application provides a robot control device comprising a processor and a memory, the memory storing a computer program executable by the processor, the processor being executable to implement the robot motion correction method of any 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 motion correction method according to any of the preceding embodiments.
In this case, the beneficial effects of the embodiments of the present application include the following:
According to the method, a target jacobian matrix for describing the kinematic association relation between the driving joint angular velocity and the tail end attitude angular velocity of the leg parallel mechanism at the current moment is determined according to the mechanism motion state information of the leg parallel mechanism of the target bipedal robot at the current moment, then the mechanism motion optimization is carried out by taking the difference between the driving joint angular velocity corresponding to the minimum expected joint angular velocity and the target tail end attitude angular velocity as an optimization purpose according to the attitude angular velocity constraint condition, the target jacobian matrix and the expected joint angular velocity of the leg parallel mechanism at the next moment, and the corresponding target tail end attitude angular velocity is obtained, so that the joint velocity of the leg parallel mechanism is effectively limited by the attitude angular velocity constraint condition, the singular position is effectively avoided near the limiting position of the mechanism by the mechanism motion optimization operation, the body jump phenomenon is improved, and the motion stability of the bipedal robot is improved.
In order to make the above 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 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 schematic diagram of the composition of a robot control device according to an embodiment of the present application;
FIG. 2 is a simplified schematic diagram of a leg parallel structure according to an embodiment of the present application;
fig. 3 is a schematic flow chart of a robot motion correction method according to an embodiment of the present application;
fig. 4 is a schematic flow chart of the sub-steps included in step S220 in fig. 3;
FIG. 5 is a second flow chart of a robot motion correction method according to an embodiment of the present disclosure;
FIG. 6 is one of the schematic diagrams of the robotic motion correcting device according to the embodiments of the present application;
FIG. 7 is a schematic diagram of the composition of the operation matrix determination module of FIG. 6;
fig. 8 is a second schematic diagram of a robotic motion correcting device according to an embodiment of the present disclosure.
Icon: 10-a robot control device; 11-memory; 12-a processor; 13-a communication unit; 100-robotic motion correction device; 110-a mechanism information acquisition module; 120-an operation matrix determination module; 130-a mechanism motion optimization module; 121-a first matrix construction sub-module; 122-a second matrix construction sub-module; 123-constructing a sub-module of the incidence matrix; 124-motion matrix construction sub-module; 140-an end pose calculation module; 150-mechanism motion control 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 the description of the present application, it should be understood that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like indicate orientations or positional relationships based on those shown in the drawings, or those conventionally put in place when the product of the application is used, or those conventionally understood by those skilled in the art, merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the application.
In the description of the present application, it should also be understood that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, 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. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context.
Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The embodiments described below and features of the embodiments may be combined with each other without conflict.
Referring to fig. 1, fig. 1 is a schematic diagram illustrating a composition of a robot control apparatus 10 according to an embodiment of the present application. In this embodiment of the present application, the robot control device 10 is configured to control an operation state of the biped robot, so that a joint speed of a leg parallel mechanism of the biped robot is limited in a proper range in an actual motion process, and an organism jump phenomenon generated by the leg parallel mechanism of the biped robot at a mechanism limit position is effectively avoided, so as to improve motion stability of the biped robot. The robot control device 10 may be connected to the bipedal robot in a remote communication manner, or may be integrated with the bipedal robot, so as to implement a motion control function of the bipedal robot.
In this embodiment, the robot control device 10 may include a memory 11, a processor 12, a communication unit 13, and a robot motion correction apparatus 100. The memory 11, the processor 12, and the communication unit 13 are electrically connected directly or indirectly to each other, so as to realize data transmission or interaction. 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 (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), or the like. Wherein the memory 11 is configured to store a computer program, and the processor 12, upon receiving an execution instruction, can execute the computer program accordingly. The memory 11 is further configured to store a posture angular velocity constraint condition for a leg link mechanism of the bipedal robot, the posture angular velocity constraint condition being configured to limit an angular velocity numerical distribution range of a tip posture angular velocity of the corresponding leg link mechanism, which defines an angular velocity lower limit value and an angular velocity upper limit value of the tip posture angular velocity. In this process, the tip attitude angular velocity includes a pitch angle velocity and a roll angle velocity involved at the rotation axis intersection point position corresponding to the tip of the leg link mechanism.
In this embodiment, the processor 12 may be an integrated circuit chip with signal processing capabilities. The processor 12 may be a general purpose processor including at least one of a central processing unit (Central Processing Unit, CPU), a graphics processor (Graphics Processing Unit, GPU) and a network processor (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, discrete gate or transistor logic device, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like that may implement or perform the methods, steps, and logic blocks disclosed in embodiments of the present application.
In this embodiment, the communication unit 13 is configured to establish a communication connection between the robot control device 10 and other electronic devices through a network, and send and receive data through the network, where the network includes a wired communication network and a wireless communication network. For example, the robot control device 10 may obtain a flat ground walking planning track for the leg parallel mechanism of the biped robot from the walking planning device through the communication unit 13, and send a motion control instruction to the biped robot through the communication unit 13, so that the biped robot moves according to the motion control instruction.
In this embodiment, the robotic motion orthotic device 100 comprises at least one software functional module that can be stored in the memory 11 in the form of software or firmware or cured in the operating system of the robotic control device 10. The processor 12 may be configured to execute executable modules stored in the memory 11, such as software functional modules and computer programs included in the robotic motion orthotic device 100. The robot control device 10 can effectively limit the joint speed of the leg parallel mechanism through the robot motion correction device 100, and can effectively avoid the singular position of the leg parallel mechanism near the limit position of the mechanism, improve the jump phenomenon of the body and improve the motion stability of the bipedal robot.
It will be appreciated that the block diagram shown in fig. 1 is merely a schematic diagram of one component of the robotic control device 10, and that the robotic control device 10 may also include more or fewer components than shown in fig. 1, or have a different configuration than shown in fig. 1. The components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.
For the bipedal robot, two soles of the bipedal robot are respectively connected with a leg parallel mechanism, and each leg parallel mechanism correspondingly relates to two degrees of freedom of the robot, namely a tail end pitch angle and a tail end roll angle, which are included by the tail end attitude angle. Taking a simplified schematic diagram of the leg parallel structure shown in fig. 2 as an example, a specific composition of the leg parallel structure is described as follows: the leg parallel structure may include two drive joints (e.g., drive joint C in fig. 2) on the same centerline 1 And C 2 ) Two intermediate joint axes (e.g. intermediate joint axis B in FIG. 2) 1 And B 2 ) Two end joint axes (e.g., end joint axis A in FIG. 2) 1 And A 2 ) And a mechanism end rotation axis intersection point (e.g., mechanism end rotation axis intersection point O in fig. 2).
Wherein the intersection points of the two end joint rotating shafts and the end rotating shaft of the mechanism are mutually spaced, and the relative positions between the end joint rotating shafts and the corresponding soles are kept unchanged, and each end joint rotating shaft passes through an intermediate connecting rod (such as an intermediate connecting rod A in figure 2 1 B 1 Or A 2 B 2 ) Is movably connected with an intermediate joint rotating shaft, and each intermediate joint rotating shaft is connected with a driving connecting rod (such as the driving connecting rod B in figure 2) 1 C 1 Or B is a 2 C 2 ) Is movably connected with one driving joint, and the two driving joints are mutually matched to realize the angle regulation and control of the pitch angle and/or the roll angle of the tail end, namely the respective driving joint angles of the two driving joints (such as the driving joint angle theta in figure 2) 1 And theta 2 ) Mutually combined to adjust the end pitch angle q pitch And/or the end roll angle q roll 。
In this case, a cartesian coordinate system can be established with the intersection point of the rotating shafts at the tail end of the mechanism as the origin of the coordinate system of a local coordinate system, so that the positive direction of the X axis represents the advancing direction of the bipedal robot, the positive direction of the Y axis represents the left side of the bipedal robot, and the positive direction of the Z axis is vertical to the ground and upward, and the tail end pitch angle is A 1 OA 2 The rotation angle of the plane relative to the YOZ plane is A 1 OA 2 Rotation angle of plane relative to XOZ plane, A 1 B 1 C 1 Plane and A 2 B 2 C 2 The plane is symmetrical about the XOZ plane.
Thus, the respective position distribution conditions of the constituent parts of the leg parallel structure of the bipedal robot can be represented by the cartesian coordinate system in combination with the generalized coordinate system, so that the robot control device 10 can control the leg parallel structure of the bipedal robot to move based on the cartesian coordinate system.
In this application, to ensure that the robot control device 10 can effectively limit the joint speed of the leg parallel mechanism of the bipedal robot and enable the leg parallel mechanism to effectively avoid singular positions near the mechanism limit position, improve the body jump phenomenon of the existing leg parallel mechanism near the mechanism limit position, and improve the motion stability of the bipedal robot, the embodiment of the application achieves the foregoing objective by providing a robot motion correction method. The robot motion correction method provided by the application is described in detail below.
Referring to fig. 3, fig. 3 is a schematic flow chart of a robot motion correction method according to an embodiment of the present application. In an embodiment of the present application, the robot motion correction method shown in fig. 3 may include steps S210 to S230.
Step S210, obtaining mechanism motion state information of a leg parallel mechanism of the target bipedal robot at the current moment.
In this embodiment, the motion state information of the mechanism includes an actual end attitude angle at the current time, a first virtual link vector and a second virtual link vector between the end of the mechanism and the driving joint, a first driving link vector and a second driving link vector between the driving joint and the middle joint rotation axis, a first middle link vector and a second middle link vector between the middle joint rotation axis and the end joint rotation axis, a first rotation direction vector and a second rotation direction vector of the middle joint rotation axis, where the first virtual link vector and the second virtual link vector are vectors pointing to the two driving joints from the intersection point of the rotation axes of the end of the mechanism (the first virtual link vector is shown in fig. 2) And a second virtual link vector->) The first driving link vector and the second driving link vector are vectors on the corresponding driving links pointing from the corresponding driving joints to the corresponding middle joint rotation axes (the first driving link vector +.>And a second driveMotion link vector->) The first intermediate link vector and the second intermediate link vector are vectors on the corresponding intermediate links pointing from the corresponding intermediate joint axis to the end joint axis (the first intermediate link vector +.>And a second intermediate link vector->) The first rotation direction vector and the second rotation direction vector respectively correspond to the positive rotation direction of one middle joint rotating shaft, and the first rotation direction vector can adopt [0 1 ] 0]Expressed, the second rotation direction vector may be [ 0-1 0 ]]Expression is performed.
And step S220, determining a target jacobian matrix of the leg parallel mechanism at the current moment according to the mechanism motion state information, wherein the target jacobian matrix is used for describing a kinematic association relationship between the driving joint angular speed and the tail end gesture angular speed of the leg parallel mechanism.
In the present embodiment, for A 1 B 1 C 1 Plane and A 2 B 2 C 2 For any one plane, the motion association relationship existing in a single plane Wherein->Vector (i.e., virtual link vector) for representing the drive joint directed in the corresponding plane from the intersection point of the mechanism end rotation axes>Vector for representing the rotation axis of the end joint of the mechanism pointing from the intersection point of the rotation axes of the end of the mechanism into the corresponding plane, +.>Vector for representing the direction of rotation of the intermediate joint in the corresponding plane from the joint axis of rotation of the end of the mechanism, +.>And is used to represent the vector in the corresponding plane pointing from the central joint axis of rotation to the driving joint.
At this time, the motion association relationship is differentiated at both ends and multiplied by both endsAnd changing vector directions at two ends to obtain a parallel mechanism kinematics relation formula corresponding to a single planeWherein->For representing the corresponding plane (A 1 B 1 C 1 Plane or A 2 B 2 C 2 Plane) intermediate link vector in +.>For representing the corresponding plane (A 1 B 1 C 1 Plane or A 2 B 2 C 2 Plane), v O Global speed, w, of the mechanism end for representing the leg parallel mechanism OC -global angular velocity of the mechanism end for representing said leg parallel mechanism,>for representing the corresponding plane (A 1 B 1 C 1 Plane or A 2 B 2 C 2 Plane) drive joint angular velocity, +.>For representing the corresponding plane (A 1 B 1 C 1 Plane or A 2 B 2 C 2 Plane) of the intermediate joint axis of rotation.
For the kinematic relationship formula of the parallel mechanism, the combination of the global speed of the end of the mechanism and the global angular speed of the end of the mechanism can be regarded as the generalized speed of the end of the parallel mechanism of the leg, the combination of the angular speeds of the driving joints of the two driving joints can be regarded as the angular speed of the driving joints of the parallel mechanism of the leg, and the combination of the pitch angle speed and the rolling angular speed at the end of the mechanism of the parallel mechanism of the leg can be regarded as the angular speed of the end gesture of the parallel mechanism of the leg, thereby combining the kinematic relationship formula of the parallel mechanism of the above A 1 B 1 C 1 Plane and A 2 B 2 C 2 And carrying out formula transformation on the respective mechanism component parameters of the planes to obtain a target jacobian matrix which accords with the robot kinematics and is used for describing the kinematics association relation between the angular speed of the driving joint and the angular speed of the tail end gesture of the leg parallel mechanism.
Optionally, referring to fig. 4, fig. 4 is a flowchart illustrating the sub-steps included in step S220 in fig. 3. In this embodiment, the step S220 may include sub-steps S221 to S224.
Sub-step S221, constructing a matched first jacobian matrix for an end generalized velocity of the leg parallel mechanism from the first intermediate link vector, the second intermediate link vector, the first virtual link vector, and the second virtual link vector.
In this embodiment, after the matrix multiplication is performed on the first jacobian matrix and the end generalized speed of the leg parallel mechanism, the first jacobian matrix can be regarded as a 1 B 1 C 1 Plane and A 2 B 2 C 2 The planes are each a combination of expression conditions in the left part of the above-described parallel mechanism kinematic relationship formula.
Sub-step S222 constructs a matched second jacobian matrix for the drive joint angular velocity of the leg parallel mechanism based on the first drive link vector, the second drive link vector, the first rotational direction vector, the second rotational direction vector, the first intermediate link vector, and the second intermediate link vector.
In this embodiment, after the matrix multiplication is performed on the second jacobian matrix and the angular velocity of the driving joint of the leg parallel mechanism, the second jacobian matrix can be regarded as a 1 B 1 C 1 Plane and A 2 B 2 C 2 The planes are each combinations of expression conditions in the right-hand side of the parallel mechanism kinematic relationship formula.
And step S223, constructing an incidence relation matrix between the end generalized speed and the end attitude angular speed of the leg parallel mechanism according to the actual end attitude angle.
In this embodiment, after the matrix multiplication operation is performed on the association relation matrix and the end gesture angular velocity of the leg parallel mechanism, the end generalized velocity of the leg parallel mechanism can be obtained.
Sub-step S224, forming a target jacobian matrix based on the robot kinematic construction according to the first jacobian matrix, the second jacobian matrix, and the association relation matrix.
In this embodiment, based on the above-mentioned kinematic relationship formula of the parallel mechanism and the association matrix, matrix mixing operation may be performed on the first jacobian matrix, the second jacobian matrix, and the association matrix, so as to obtain a corresponding target jacobian matrix to represent a kinematic association relationship between the driving joint angular velocity and the end gesture angular velocity of the leg parallel mechanism. The matrix relation among the target jacobian matrix, the first jacobian matrix, the second jacobian matrix and the association relation matrix is expressed by adopting the following formula:
wherein J is jac For representing the target jacobian matrix, J h For representing the first jacobian matrix, J θ For representing the second jacobian matrix, G for representing the association relationshipThe matrix is formed by a matrix of,for representing said first intermediate link vector, < >>For representing said second intermediate link vector, < >>For representing said first virtual link vector, < > >For representing said second virtual link vector, < >>For representing said first rotational direction vector, -a first rotational direction vector>For representing said second rotational direction vector, -a second rotational direction vector>For representing said first drive link vector, < >>For representing the second drive link vector, q pitch For representing an actual tip pitch angle comprised by said actual tip attitude angle.
Thus, the present application may describe the kinematic association relationship between the driving joint angular velocity and the end attitude angular velocity of the leg parallel mechanism by executing the above-described substeps S221 to S224 and calculating the target jacobian matrix conforming to the robot kinematics at the present time.
And step S230, carrying out mechanism motion optimization with the aim of minimizing the difference of joint angular velocities as optimization according to the attitude angular velocity constraint condition, the target jacobian matrix and the expected joint angular velocity of the leg parallel mechanism at the next moment, and obtaining the target tail end attitude angular velocity of the leg parallel mechanism at the next moment.
In this embodiment, the current time and the next time are adjacent to each other, and the time length between the current time and the next time is a control period, and the desired joint angular velocity is the joint angular velocity that two driving joints of the leg parallel mechanism are expected to present at the next time. The joint angular velocity difference is used for representing the difference between the expected joint angular velocity and the driving joint angular velocity corresponding to the target end attitude angular velocity, wherein the driving joint angular velocity corresponding to the target end attitude angular velocity is obtained by performing matrix multiplication operation on the target end attitude angular velocity and the target jacobian matrix, and the joint angular velocity difference can be obtained by adopting the formula Expression of->For representing said desired joint angular velocity,/or->For representing the target tip attitude angular velocity, < >>And the driving joint angular velocity is used for representing the driving joint angular velocity corresponding to the target tail end attitude angular velocity. In this process, the mechanism motion optimization operation can be regarded as solving a quadratic programming (Quadratic Programming, QP) problem, so that the target end attitude angular speed of the leg parallel mechanism at the next moment is optimized by combining an attitude angular speed constraint condition.
Therefore, when the leg parallel mechanism operates according to the target tail end attitude angular speed, the joint speed of the leg parallel mechanism in the actual motion process is effectively limited by utilizing the attitude angular speed constraint condition, the leg parallel mechanism can effectively avoid singular positions to move near the mechanism limit position through mechanism motion optimization operation, the body jump phenomenon of the leg parallel mechanism near the mechanism limit position is improved, and the motion stability of the bipedal robot is improved.
Optionally, referring to fig. 5, fig. 5 is a second flowchart of a robot motion correction method according to an embodiment of the present disclosure. In the embodiment of the present application, compared to the robot motion correction method shown in fig. 3, the robot motion correction method shown in fig. 5 may further include step S240 and step S250.
And step S240, carrying out mathematical integral operation on the target end attitude angular speed to obtain the expected end attitude angle of the leg parallel mechanism at the next moment.
In this embodiment, after the robot control device 10 calculates and obtains the target end attitude angular velocity of the leg parallel mechanism of the target biped robot at the next time, a mathematical integral operation may be performed based on the actual end attitude angle of the leg parallel mechanism at the current time and the target end attitude angular velocity, so as to obtain the expected end attitude angle of the leg parallel mechanism at the next time, so as to ensure that the expected condition of the end of the leg parallel mechanism at the next time can effectively avoid the singular position near the mechanism limit position through the expected end attitude angle, and the corresponding joint velocity is in a proper range.
And step S250, controlling the leg parallel mechanism to move according to the expected tail end attitude angle.
Therefore, the present application can ensure that the motion condition of the leg parallel mechanism end of the target bipedal robot at the next moment can effectively avoid the singular position near the mechanism limit position by executing the step S240 and the step S250, and the corresponding joint speed is in a proper range.
In this application, in order to ensure that the robot control device 10 can perform the above-described robot motion correction method through the robot motion correction apparatus 100, the present application implements the foregoing functions by dividing functional modules of the robot motion correction apparatus 100. The specific composition of the robotic motion correcting device 100 provided in the present application will be described accordingly.
Referring to fig. 6, fig. 6 is a schematic diagram of a robotic motion correcting device 100 according to an embodiment of the disclosure. In an embodiment of the present application, the robotic motion correcting device 100 may include a mechanism information obtaining module 110, a running matrix determining module 120, and a mechanism motion optimizing module 130.
The mechanism information obtaining module 110 is configured to obtain mechanism motion state information of a leg parallel mechanism of the target bipedal robot at a current moment.
The operation matrix determining module 120 is configured to determine a target jacobian matrix of the leg parallel mechanism at the current moment according to the mechanism motion state information, where the target jacobian matrix is used to describe a kinematic association relationship between a driving joint angular velocity and a terminal attitude angular velocity of the leg parallel mechanism.
And the mechanism motion optimization module 130 is configured to perform mechanism motion optimization with the aim of minimizing a joint angular velocity difference according to the attitude angular velocity constraint condition, the target jacobian matrix, and an expected joint angular velocity of the leg parallel mechanism at a next moment, so as to obtain a target end attitude angular velocity of the leg parallel mechanism at the next moment, where the joint angular velocity difference is used to represent a difference between the expected joint angular velocity and a driving joint angular velocity corresponding to the target end attitude angular velocity.
The mechanism motion state information comprises an actual tail end attitude angle at the current moment, a first virtual connecting rod vector and a second virtual connecting rod vector between the tail end of the mechanism and a driving joint, a first driving connecting rod vector and a second driving connecting rod vector between the driving joint and an intermediate joint rotating shaft, a first intermediate connecting rod vector and a second intermediate connecting rod vector between the intermediate joint rotating shaft and the tail end joint rotating shaft, and a first rotating direction vector and a second rotating direction vector of the intermediate joint rotating shaft.
Alternatively, referring to fig. 7, fig. 7 is a schematic diagram illustrating the composition of the operation matrix determining module 120 in fig. 6. In this embodiment, the operation matrix determining module 120 may include a first matrix constructing sub-module 121, a second matrix constructing sub-module 122, an association matrix constructing sub-module 123, and a motion matrix constructing sub-module 124.
A first matrix construction sub-module 121, configured to construct a matched first jacobian matrix for the end generalized speed of the leg parallel mechanism according to the first intermediate link vector, the second intermediate link vector, the first virtual link vector, and the second virtual link vector.
A second matrix construction sub-module 122, configured to construct a matched second jacobian matrix for the angular velocity of the driving joint of the leg parallel mechanism according to the first driving link vector, the second driving link vector, the first rotation direction vector, the second rotation direction vector, the first intermediate link vector, and the second intermediate link vector.
And the correlation matrix construction submodule 123 is used for constructing a correlation matrix between the terminal generalized speed and the terminal attitude angular speed of the leg parallel mechanism according to the actual terminal attitude angle.
A motion matrix construction sub-module 124, configured to construct the target jacobian matrix based on robot kinematics according to the first jacobian matrix, the second jacobian matrix, and the association matrix.
In this process, the matrix relationship among the target jacobian matrix, the first jacobian matrix, the second jacobian matrix, and the association matrix is expressed by the following formula:
/>
Wherein J is jac For representing the target jacobian matrix, J h For representing the first jacobian matrix, J θ For representing the second jacobian matrix, G for representing the association matrix,for representing said first intermediate link vector, < >>For representing said second intermediate link vector, < >>For representing said first virtual link vector, < >>For representing said second virtual link vector, < >>For representing said first rotational direction vector, -a first rotational direction vector>For representing said second rotational direction vector, -a second rotational direction vector>For representing said first drive link vector, < >>For representing the second drive link vector, q pitch For representing an actual tip pitch angle comprised by said actual tip attitude angle.
Optionally, referring to fig. 8, fig. 8 is a second schematic diagram of a robotic motion correcting device 100 according to an embodiment of the present disclosure. In the embodiment of the present application, the robotic motion correcting device 100 may further include a tip pose calculation module 140 and a mechanism motion control module 150.
And the tail end attitude calculation module 140 is used for carrying out mathematical integral operation on the target tail end attitude angular speed to obtain the expected tail end attitude angle of the leg parallel mechanism at the next moment.
A mechanism motion control module 150 for controlling the leg parallel mechanism to move according to the desired end attitude angle.
It should be noted that, the basic principle and the technical effects of the robot motion correction device 100 provided in the embodiment of the present application are the same as those of the aforementioned robot motion correction method. For a brief description, reference is made to the description of the robot motion correction method described above, where this embodiment is not mentioned.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners as well. The apparatus embodiments described above are merely illustrative, for example, of the flowcharts and block diagrams in the figures that 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, 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 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.
In summary, in the method and apparatus for correcting movement of a robot, the robot control device, and the storage medium provided in the present application, according to the information of the mechanism movement state of the leg parallel mechanism of the target bipedal robot at the current moment, the target jacobian matrix for describing the kinematic association relationship between the driving joint angular velocity and the terminal attitude angular velocity of the leg parallel mechanism at the current moment is determined, and then, according to the attitude angular velocity constraint condition, the target jacobian matrix, and the expected joint angular velocity of the leg parallel mechanism at the next moment, the mechanism movement optimization is performed with the aim of optimizing the difference between the driving joint angular velocity corresponding to the expected joint angular velocity and the target terminal attitude angular velocity to obtain the corresponding target terminal attitude angular velocity, so that the joint velocity of the leg parallel mechanism is effectively limited by the attitude angular velocity constraint condition, the leg parallel mechanism is effectively avoided from the singular position near the mechanism limit position by the mechanism movement optimization operation, the body jump phenomenon is improved, and the movement stability of the bipedal robot is improved.
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 method of robotic motion correction, the method comprising:
acquiring mechanism motion state information of a leg parallel mechanism of a target biped robot at the current moment, wherein the mechanism motion state information comprises an actual tail end attitude angle at the current moment, a first virtual connecting rod vector and a second virtual connecting rod vector between the tail end of the mechanism and a driving joint, a first driving connecting rod vector and a second driving connecting rod vector between the driving joint and an intermediate joint rotating shaft, a first intermediate connecting rod vector and a second intermediate connecting rod vector between the intermediate joint rotating shaft and the tail end joint rotating shaft, and a first rotating direction vector and a second rotating direction vector of the intermediate joint rotating shaft;
determining a target jacobian matrix of the leg parallel mechanism at the current moment according to the mechanism motion state information, wherein the target jacobian matrix is used for describing a kinematic association relationship between the driving joint angular speed and the tail end gesture angular speed of the leg parallel mechanism;
Performing mechanism motion optimization with the aim of minimizing joint angular velocity difference according to the attitude angular velocity constraint condition, the target jacobian matrix and the expected joint angular velocity of the leg parallel mechanism at the next moment to obtain the target tail end attitude angular velocity of the leg parallel mechanism at the next moment, wherein the joint angular velocity difference is used for representing the difference between the expected joint angular velocity and the driving joint angular velocity corresponding to the target tail end attitude angular velocity;
the step of determining the target jacobian matrix of the leg parallel mechanism at the current moment according to the mechanism motion state information comprises the following steps:
constructing a matched first jacobian matrix for the terminal generalized speed of the leg parallel mechanism according to the first intermediate link vector, the second intermediate link vector, the first virtual link vector and the second virtual link vector;
constructing a matched second jacobian matrix for the angular velocity of the driving joint of the leg parallel mechanism according to the first driving connecting rod vector, the second driving connecting rod vector, the first rotation direction vector, the second rotation direction vector, the first intermediate connecting rod vector and the second intermediate connecting rod vector;
Constructing an incidence relation matrix between the tail end generalized speed and the tail end attitude angular speed of the leg parallel mechanism according to the actual tail end attitude angle;
and constructing and forming the target jacobian matrix based on robot kinematics according to the first jacobian matrix, the second jacobian matrix and the association relation matrix.
2. The method of claim 1, wherein a matrix relationship among the target jacobian matrix, the first jacobian matrix, the second jacobian matrix, and the association matrix is expressed using the following formula:
wherein J is jac For representing the target jacobian matrix, J h For representing the first jacobian matrix, J θ For representing the second jacobian matrix, G for representing the association matrix,for representing said first intermediate link vector, < >>For representing said second intermediate link vector, < >>For representing said first virtual link vector, < >>For representing said second virtual link vector, < >>For representing said first rotational direction vector, -a first rotational direction vector>For representing said second rotational direction vector, -a second rotational direction vector>For representing said first drive link vector, < > >For representing the second drive link vector, q pitch For representing an actual tip pitch angle comprised by said actual tip attitude angle.
3. The method according to any one of claims 1-2, wherein the method further comprises:
performing mathematical integral operation on the target tail end attitude angular speed to obtain an expected tail end attitude angle of the leg parallel mechanism at the next moment;
and controlling the leg parallel mechanism to move according to the expected tail end attitude angle.
4. A robotic motion orthotic device, the device comprising:
the mechanism information acquisition module is used for acquiring mechanism motion state information of a leg parallel mechanism of the target bipedal robot at the current moment, wherein the mechanism motion state information comprises an actual tail end attitude angle at the current moment, a first virtual connecting rod vector and a second virtual connecting rod vector between the tail end of the mechanism and a driving joint, a first driving connecting rod vector and a second driving connecting rod vector between the driving joint and an intermediate joint rotating shaft, a first intermediate connecting rod vector and a second intermediate connecting rod vector between the intermediate joint rotating shaft and the tail end joint rotating shaft, and a first rotating direction vector and a second rotating direction vector of the intermediate joint rotating shaft;
The running matrix determining module is used for determining a target jacobian matrix of the leg parallel mechanism at the current moment according to the mechanism motion state information, wherein the target jacobian matrix is used for describing a kinematic association relation between the driving joint angular speed and the tail end attitude angular speed of the leg parallel mechanism;
the mechanism motion optimization module is used for carrying out mechanism motion optimization by taking a minimum joint angular velocity difference as an optimization purpose according to an attitude angular velocity constraint condition, the target jacobian matrix and the expected joint angular velocity of the leg parallel mechanism at the next moment to obtain a target tail end attitude angular velocity of the leg parallel mechanism at the next moment, wherein the joint angular velocity difference is used for representing the difference between the expected joint angular velocity and a driving joint angular velocity corresponding to the target tail end attitude angular velocity;
wherein, the operation matrix determining module comprises:
a first matrix construction sub-module, configured to construct a matched first jacobian matrix for a terminal generalized speed of the leg parallel mechanism according to the first intermediate link vector, the second intermediate link vector, the first virtual link vector, and the second virtual link vector;
A second matrix construction sub-module, configured to construct a matched second jacobian matrix for a driving joint angular velocity of the leg parallel mechanism according to the first driving link vector, the second driving link vector, the first rotational direction vector, the second rotational direction vector, the first intermediate link vector, and the second intermediate link vector;
the incidence matrix construction submodule is used for constructing an incidence relation matrix between the tail end generalized speed and the tail end attitude angular speed of the leg parallel mechanism according to the actual tail end attitude angle;
and the motion matrix construction submodule is used for constructing and forming the target jacobian matrix based on robot kinematics according to the first jacobian matrix, the second jacobian matrix and the association relation matrix.
5. The apparatus of claim 4, wherein a matrix relationship among the target jacobian matrix, the first jacobian matrix, the second jacobian matrix, and the association matrix is expressed using the following formula:
wherein J is jac For representing the target jacobian matrix, J h For representing the first jacobian matrix, J θ For representing the second jacobian matrix, G for representing the association matrix,for representing said first intermediate link vector, < >>For representing said second intermediate link vector, < >>For representing said first virtual link vector, < >>For representing said second virtual link vector, < >>For representing said first rotational direction vector, -a first rotational direction vector>For representing said second rotational direction vector, -a second rotational direction vector>For representing said first drive link vector, < >>For representing the second drive link vector, q pitch For representing an actual tip pitch angle comprised by said actual tip attitude angle.
6. The apparatus according to any one of claims 4-5, further comprising:
the tail end attitude calculation module is used for carrying out mathematical integral operation on the target tail end attitude angular speed to obtain an expected tail end attitude angle of the leg parallel mechanism at the next moment;
and the mechanism motion control module is used for controlling the leg parallel mechanism to move according to the expected tail end attitude angle.
7. A robot control device comprising a processor and a memory, the memory storing a computer program executable by the processor, the processor being executable by the computer program to implement the robot motion correction method of any one of claims 1-3.
8. A storage medium having stored thereon a computer program, which, when executed by a processor, implements the robot motion correction method of any of claims 1-3.
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