CN114407010B - Zero force control method and device, electronic equipment and storage medium - Google Patents
Zero force control method and device, electronic equipment and storage medium Download PDFInfo
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- CN114407010B CN114407010B CN202111662006.1A CN202111662006A CN114407010B CN 114407010 B CN114407010 B CN 114407010B CN 202111662006 A CN202111662006 A CN 202111662006A CN 114407010 B CN114407010 B CN 114407010B
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- 238000004364 calculation method Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
Abstract
The application discloses a zero-force control method, a zero-force control device, electronic equipment and a storage medium, which belong to the technical field of robots, wherein the zero-force control method comprises the following steps: acquiring the actual stress of a target robot; inputting the expected force, the dynamic compensation term and the actual stress into a force controller to obtain a target speed; inputting the target speed into a speed loop controller to obtain a control current; inputting control current into a current loop controller to obtain control voltage; the torque of the motor is regulated by means of the control voltage. The zero force control process of the method has high response speed and is more stable to control.
Description
Technical Field
The application belongs to the technical field of robots, and particularly relates to a zero-force control method, a zero-force control device, electronic equipment and a storage medium.
Background
Zero force control technique: through dynamic compensation and external stress compensation, the mechanical arm is in a state similar to weightlessness, can move according to external force only by overcoming small inertia force under the traction of external force, and is suitable for the scenes of dragging teaching, man-machine cooperation and the like. Zero force control based on torque control and zero force control based on position control are generally employed.
The zero force control technology is applied to the fields of robot joint zero force dragging, collaborative mechanical arm dragging teaching and the like, is a key technology of robot control, and is mainly used for position control at present.
Disclosure of Invention
The purpose of the application is to provide a zero-force control method, a zero-force control device, electronic equipment and a storage medium, so as to solve the problems of low response speed and labor-consuming dragging of the existing zero-force control.
According to a first aspect of an embodiment of the present application, a zero force control method is provided, applied to a control system of a robot, where the control system includes a force controller, a dual-loop cascaded proportional-integral-derivative controller, and a motor, and the dual-loop cascaded proportional-integral-derivative controller includes a speed loop controller and a current loop controller, and the zero force control method may include:
acquiring the actual stress of a target robot;
inputting the expected force, the dynamic compensation term and the actual stress into a force controller to obtain a target speed;
inputting the target speed into a speed loop controller to obtain a control current;
inputting control current into a current loop controller to obtain control voltage;
the torque of the motor is regulated by means of the control voltage.
In some optional embodiments of the present application, before acquiring the actual stress of the target robot, the zero-force control method further includes:
and adjusting the working mode of the joint of the target robot to a speed mode.
In some alternative embodiments of the present application, the speed loop controller calculates the control current based on the following formula:
wherein K is pv For the proportional coefficient of the speed loop controller, K iv The integral coefficient is used for the speed loop controller, s is Laplacian, and I is control current.
In some alternative embodiments of the present application, the current loop controller calculates the control voltage based on the following formula:
wherein K is pc Is the proportionality coefficient of the current loop controller, K ic The integral coefficient of the current loop controller is represented by s, the Laplacian, and the control voltage is represented by U(s).
In some alternative embodiments of the present application, the force controller calculates the target speed based on the following formula:
wherein F is d =0 is the desired force, T(s) is the actual force, F dynamics For dynamic compensation term, W d (s) is the target speed, M is the force controller mass coefficient, D is the force controller damping coefficient, K is the force controller spring coefficient, and s is the Laplacian operator.
According to a second aspect of embodiments of the present application, there is provided a zero force control device, the device may comprise:
the acquisition module is used for acquiring the actual stress of the robot;
the force controller is used for calculating a target speed according to the expected force, the dynamic compensation term and the actual stress;
a speed loop controller for calculating a control current according to a target speed;
a current loop controller for calculating a control voltage according to the control current;
and the torque adjusting module is used for adjusting the torque of the motor by using the control voltage.
In some alternative embodiments of the present application, the zero force control device further comprises:
and the mode adjusting module is used for adjusting the joint working mode of the target robot to a speed mode.
In some alternative embodiments of the present application, the zero force control device further comprises:
and the low-pass filter is used for filtering the actual stress, the control current and the control voltage.
According to a third aspect of embodiments of the present application, there is provided an electronic device, which may include:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to execute instructions to implement a zero force control method as shown in any one of the embodiments of the first aspect.
According to a fourth aspect of embodiments of the present application, there is provided a storage medium, which when executed by a processor of an information processing apparatus or a server, causes the information processing apparatus or the server to implement the zero-force control method as shown in any one of the embodiments of the first aspect.
The technical scheme of the application has the following beneficial technical effects:
according to the method, the target speed is obtained through calculation according to the expected force, the dynamic compensation item and the actual stress, the target speed is used as input of the speed controller, and the motor moment is adjusted through the inner ring current controller. The zero force control process of the method has high response speed and is more stable to control.
Drawings
FIG. 1 is a flow chart of a zero force control method in an exemplary embodiment of the present application;
FIG. 2 is a flow chart of a zero force control method according to an embodiment of the present application;
FIG. 3 is a comparison of zero force control effects in an exemplary embodiment of the present application.
FIG. 4 is a schematic diagram of a zero force control device according to an exemplary embodiment of the present application;
FIG. 5 is a schematic view of a zero force control device according to an embodiment of the present disclosure;
FIG. 6 is a schematic diagram of an electronic device in an exemplary embodiment of the present application;
fig. 7 is a schematic diagram of a hardware structure of an electronic device in an exemplary embodiment of the present application.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail below with reference to the accompanying drawings. It should be understood that the description is only exemplary and is not intended to limit the scope of the present application. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the concepts of the present application.
A layer structure schematic diagram according to an embodiment of the present application is shown in the drawings. The figures are not drawn to scale, wherein certain details may be exaggerated and some details may be omitted for clarity. The shapes of the various regions, layers and relative sizes, positional relationships between them shown in the drawings are merely exemplary, may in practice deviate due to manufacturing tolerances or technical limitations, and one skilled in the art may additionally design regions/layers having different shapes, sizes, relative positions as actually required.
It will be apparent that the embodiments described are some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
In the description of the present application, it should be noted that the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In addition, the technical features described below in the different embodiments of the present application may be combined with each other as long as they do not collide with each other.
The zero force control method provided by the embodiment of the application is described in detail below through specific embodiments and application scenes thereof with reference to the accompanying drawings.
As shown in fig. 1, in a first aspect of an embodiment of the present application, a zero-force control method is provided and applied to a control system of a robot, where the control system includes a force controller, a dual-loop cascaded proportional-integral-derivative controller, and a motor, and the dual-loop cascaded proportional-integral-derivative controller includes a speed loop controller and a current loop controller, and the zero-force control method may include:
step 110: acquiring the actual stress of a target robot;
step 120: inputting the expected force, the dynamic compensation term and the actual stress into a force controller to obtain a target speed;
step 130: inputting the target speed into a speed loop controller to obtain a control current;
step 140: inputting control current into a current loop controller to obtain control voltage;
step 150: the torque of the motor is regulated by means of the control voltage.
According to the method, the target speed is obtained through calculation according to the expected force, the dynamic compensation item and the actual stress, the target speed is used as input of the speed controller, and the motor moment is adjusted through the inner ring current controller. The zero force control process of the method has high response speed and is more stable to control.
For a clearer description, the following description will be made for the above steps, respectively:
first is step 110: and acquiring the actual stress of the target robot.
The step is that the joint servo driver of the target robot works in a speed mode to acquire actual stress. The target robot is a robot capable of dragging with zero force by a joint and cooperated with a mechanical arm for traction teaching.
Step 120 follows: inputting the expected force, the dynamic compensation term and the actual stress into a force controller to obtain a target speed; step 130: inputting the target speed into a speed loop controller to obtain a control current; step 140: inputting control current into a current loop controller to obtain control voltage; step 150: the torque of the motor is regulated by means of the control voltage.
As shown in FIG. 2, this step is that the force controller is based on the reference velocity W d (s), and the motor current I(s) and the rotation speed W(s) are fed back, and the voltage U(s) is calculated and taken as the input of the motor. The feedback data are all filtered by low pass filteringThe wave filter LPF performs preprocessing. The force controller is an admittance controller, and the reference speed is obtained according to the expected force, the dynamic compensation term and the actual stress state. The calculation formula of the reference speed is therefore:
wherein F is d =0 is the expected stress of the joint, T(s) is the actual output torque of the motor, F dynamics The dynamic compensation term comprises gravity, coriolis force, centrifugal force, inertial force, friction force and the like. In fig. 2, s is a laplace operator, L is a motor equivalent inductance, R is a motor equivalent resistance, kt is a motor torque constant, ke is a motor back electromotive force coefficient, and J is an equivalent moment of inertia. Kpc and Kic are proportional and integral coefficients of the current loop controller; kpv and Kiv are proportional and integral coefficients of the speed loop controller. K. D, M is the admittance controller spring, damping, mass coefficient. Finally, better zero-force control effect can be obtained by adjusting K, D, M parameters. The controller may be implemented in a digital processor by a discretization method. As shown in fig. 3, the zero force control method based on the speed loop has a faster response speed compared to the position control.
In an embodiment, before acquiring the actual stress of the target robot, the zero-force control method further includes:
and adjusting the working mode of the joint of the target robot to a speed mode.
In one embodiment, the speed loop controller calculates the control current based on the following equation:
wherein K is pv For the proportional coefficient of the speed loop controller, K iv The integral coefficient is used for the speed loop controller, s is Laplacian, and I is control current.
In one embodiment, the current loop controller calculates the control voltage based on the following formula:
wherein K is pc Is the proportionality coefficient of the current loop controller, K ic The integral coefficient of the current loop controller is represented by s, the Laplacian, and the control voltage is represented by U(s).
In one embodiment, the force controller calculates the target speed based on the following equation:
wherein F is d =0 is the desired force, T(s) is the actual force, F dynamics For dynamic compensation term, W d (s) is the target speed, M is the force controller mass coefficient, D is the force controller damping coefficient, K is the force controller spring coefficient, and s is the Laplacian operator.
The force controller in the above embodiments may employ an admittance controller. The terminal stress is adjusted by controlling the terminal position of the target robot, and the terminal movement and the stress are enabled to accord with a certain dynamic relationship.
It should be noted that, in the zero-force control method provided in the embodiments of the present application, the execution body may be a zero-force control device, or a control module of the zero-force control device for executing the zero-force control method. In the embodiment of the present application, a method for executing zero force control by using a zero force control device is taken as an example, and the zero force control device provided in the embodiment of the present application is described.
As shown in fig. 4, in a second aspect of the embodiments of the present application, there is provided a zero force control device, which may include:
an obtaining module 410, configured to obtain an actual stress of the target robot;
a force controller 420 for calculating a target speed based on the desired force, the dynamic compensation term, and the actual force;
a speed loop controller 430 for calculating a control current according to a target speed;
a current loop controller 440 for calculating a control voltage according to the control current;
the torque adjustment module 450 is configured to adjust a torque of the motor using the control voltage.
In one embodiment, the zero force control device further comprises:
and the mode adjusting module is used for adjusting the joint working mode of the target robot to a speed mode.
In one embodiment, the zero force control device further comprises:
and the low-pass filter is used for filtering the actual stress, the control current and the control voltage.
In one embodiment, as shown in FIG. 5, the zero force control device comprises an industrial personal computer and a plurality of servo drivers, which communicate using an EtherCAT bus. The industrial personal computer runs a force controller algorithm and an EtherCAT master station, and the industrial personal computer runs a speed controller and a current controller in a servo driver. The industrial personal computer adopts a real-time operating system, and each joint of the target robot is provided with a servo driver for motor driving control.
The target robot joint servo driver works in a speed mode and adopts current loop and speed loop double-loop PID control. The force controller adopts an admittance controller, calculates the target speed according to the expected force, the dynamic compensation item and the actual stress, and is used as the input of the speed controller, and then the torque of the motor is regulated through the inner ring current controller.
Compared with zero-force control based on a current loop, the control method has a more stable control effect; has a faster response speed compared to zero force control based on a position loop.
The zero force control device in the embodiment of the application can be a device, and also can be a component, an integrated circuit or a chip in a terminal. The device may be a mobile electronic device or a non-mobile electronic device. By way of example, the mobile electronic device may be a cell phone, tablet computer, notebook computer, palm computer, vehicle-mounted electronic device, wearable device, ultra-mobile personal computer (ultra-mobile personal computer, UMPC), netbook or personal digital assistant (personal digital assistant, PDA), etc., and the non-mobile electronic device may be a server, network attached storage (Network Attached Storage, NAS), personal computer (personal computer, PC), television (TV), teller machine or self-service machine, etc., and the embodiments of the present application are not limited in particular.
The zero force control device in the embodiments of the present application may be a device having an operating system. The operating system may be an Android operating system, an ios operating system, or other possible operating systems, which are not specifically limited in the embodiments of the present application.
The zero force control device provided in the embodiment of the present application can implement each process implemented by the method embodiment of fig. 1, and in order to avoid repetition, a detailed description is omitted here.
Optionally, as shown in fig. 6, the embodiment of the present application further provides an electronic device 600, including a processor 601, a memory 602, and a program or an instruction stored in the memory 602 and capable of running on the processor 601, where the program or the instruction implements each process of the above-mentioned zero force control method embodiment when executed by the processor 601, and the process can achieve the same technical effect, so that repetition is avoided, and no further description is given here.
The electronic device in the embodiment of the application includes the mobile electronic device and the non-mobile electronic device described above.
Fig. 7 is a schematic hardware structure of an electronic device implementing an embodiment of the present application.
The electronic device 700 includes, but is not limited to: radio frequency unit 701, network module 702, audio output unit 703, input unit 704, sensor 705, display unit 706, user input unit 707, interface unit 708, memory 709, and processor 710.
Those skilled in the art will appreciate that the electronic device 700 may also include a power source (e.g., a battery) for powering the various components, which may be logically connected to the processor 710 via a power management system so as to perform functions such as managing charge, discharge, and power consumption via the power management system. The electronic device structure shown in fig. 7 does not constitute a limitation of the electronic device, and the electronic device may include more or less components than shown, or may combine certain components, or may be arranged in different components, which are not described in detail herein.
It should be appreciated that in embodiments of the present application, the input unit 704 may include a graphics processor (Graphics Processing Unit, GPU) 7041 and a microphone 7042, with the graphics processor 7041 processing image data of still pictures or video obtained by an image capturing device (e.g., a camera) in a video capturing mode or an image capturing mode. The display unit 706 may include a display panel 7061, and the display panel 7061 may be configured in the form of a liquid crystal display, an organic light emitting diode, or the like. The user input unit 707 includes a touch panel 7071 and other input devices 7072. The touch panel 7071 is also referred to as a touch screen. The touch panel 7071 may include two parts, a touch detection device and a touch controller. Other input devices 7072 may include, but are not limited to, a physical keyboard, function keys (e.g., volume control keys, switch keys, etc.), a trackball, a mouse, a joystick, and so forth, which are not described in detail herein. Memory 709 may be used to store software programs as well as various data including, but not limited to, application programs and an operating system. The processor 710 may integrate an application processor that primarily processes operating systems, user interfaces, applications, etc., with a modem processor that primarily processes wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 710.
The embodiment of the present application further provides a readable storage medium, where a program or an instruction is stored on the readable storage medium, and when the program or the instruction is executed by a processor, the processes of the foregoing embodiments of the zero force control method are implemented, and the same technical effects can be achieved, so that repetition is avoided, and no further description is given here.
Wherein the processor is a processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium such as a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk or an optical disk, and the like.
The embodiment of the application further provides a chip, the chip includes a processor and a communication interface, the communication interface is coupled with the processor, the processor is used for running a program or an instruction, implementing each process of the above-mentioned zero-force control method embodiment, and can achieve the same technical effect, so as to avoid repetition, and no further description is provided here.
It should be understood that the chips referred to in the embodiments of the present application may also be referred to as system-on-chip chips, chip systems, or system-on-chip chips, etc.
It should be noted that, in this document, 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. Furthermore, it should be noted that the scope of the methods and apparatus in the embodiments of the present application is not limited to performing the functions in the order shown or discussed, but may also include performing the functions in a substantially simultaneous manner or in an opposite order depending on the functions involved, e.g., the described methods may be performed in an order different from that described, and various steps may also be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solutions of the present application may be embodied essentially or in a part contributing to the prior art in the form of a computer software product stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk), comprising several instructions for causing a terminal (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the methods described in the embodiments of the present application.
The embodiments of the present application have been described above with reference to the accompanying drawings, but the present application is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those of ordinary skill in the art without departing from the spirit of the present application and the scope of the claims, which are also within the protection of the present application.
Claims (9)
1. A zero force control method, characterized by being applied to a control system of a robot, the control system comprising a force controller, a double loop cascade proportional-integral-derivative controller and a motor, the double loop cascade proportional-integral-derivative controller comprising a speed loop controller and a current loop controller, the zero force control method comprising:
acquiring the actual stress of a target robot;
inputting the expected force, the dynamic compensation term and the actual stress into the force controller to obtain a target speed; the force controller calculates the target speed based on the following formula:
wherein F is d =0 is the desired force, T(s) is the actual force, F dynamics For dynamic compensation term, W d (s) is a target speed, M is a force controller mass coefficient, D is a force controller damping coefficient, K is a force controller spring coefficient, and s is a Laplacian operator;
inputting the target speed into the speed loop controller to obtain a control current;
inputting the control current into the current loop controller to obtain a control voltage;
and regulating the moment of the motor by using the control voltage.
2. The zero-force control method according to claim 1, characterized in that the zero-force control method further comprises, before the acquisition of the actual stress of the target robot:
and adjusting the working mode of the joint of the target robot to a speed mode.
3. The zero force control method of claim 1, wherein the speed loop controller calculates the control current based on the following equation:
wherein K is pv For the proportional coefficient of the speed loop controller, K iv The integral coefficient is used for the speed loop controller, s is Laplacian, and I is control current.
4. The zero force control method of claim 1, wherein the current loop controller calculates the control voltage based on the following formula:
wherein K is pc Is the proportionality coefficient of the current loop controller, K ic The integral coefficient of the current loop controller is represented by s, the Laplacian, and the control voltage is represented by U(s).
5. A zero force control device, comprising:
the acquisition module is used for acquiring the actual stress of the target robot;
a force controller for calculating a target speed based on the desired force, the dynamic compensation term and the actual force; the force controller calculates the target speed based on the following formula:
wherein F is d =0 is the desired force, T(s) is the actual force, F dynamics For dynamic compensation term, W d (s) is a target speed, M is a force controller mass coefficient, D is a force controller damping coefficient, K is a force controller spring coefficient, and s is a Laplacian operator;
a speed loop controller for calculating a control current according to the target speed;
a current loop controller for calculating a control voltage according to the control current;
and the torque adjusting module is used for adjusting the torque of the motor by utilizing the control voltage.
6. The zero-force control device of claim 5, further comprising:
and the mode adjusting module is used for adjusting the joint working mode of the target robot to a speed mode.
7. The zero-force control device of claim 5, further comprising:
and the low-pass filter is used for carrying out filtering treatment on the actual stress, the control current and the control voltage.
8. An electronic device, comprising: a processor, a memory and a program or instruction stored on the memory and executable on the processor, which when executed by the processor implements the steps of the zero force control method of any one of claims 1 to 4.
9. A readable storage medium, characterized in that it has stored thereon a program or instructions which, when executed by a processor, implement the steps of the zero force control method according to any one of claims 1-4.
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