CN114536335B - Control method and system of robot mechanical structure, electronic equipment and storage medium - Google Patents
Control method and system of robot mechanical structure, electronic equipment and storage medium Download PDFInfo
- Publication number
- CN114536335B CN114536335B CN202210171369.3A CN202210171369A CN114536335B CN 114536335 B CN114536335 B CN 114536335B CN 202210171369 A CN202210171369 A CN 202210171369A CN 114536335 B CN114536335 B CN 114536335B
- Authority
- CN
- China
- Prior art keywords
- mechanical structure
- acting force
- force
- mechanical
- external environment
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 55
- 238000004364 calculation method Methods 0.000 claims description 30
- 230000001133 acceleration Effects 0.000 claims description 22
- 230000007246 mechanism Effects 0.000 claims description 20
- 238000004590 computer program Methods 0.000 claims description 11
- 238000006073 displacement reaction Methods 0.000 claims description 10
- 238000013016 damping Methods 0.000 claims description 8
- 230000001276 controlling effect Effects 0.000 abstract description 18
- 230000008859 change Effects 0.000 abstract description 8
- 230000003993 interaction Effects 0.000 abstract description 8
- 230000001105 regulatory effect Effects 0.000 abstract description 4
- 238000004422 calculation algorithm Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 11
- 238000013461 design Methods 0.000 description 4
- 239000012636 effector Substances 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000013459 approach Methods 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000003874 inverse correlation nuclear magnetic resonance spectroscopy Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005381 potential energy Methods 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
Abstract
The invention discloses a control method, a control system, electronic equipment and a storage medium of a robot mechanical structure, wherein the mechanical structure comprises a hysteresis device and a hysteresis device controller, and the hysteresis device controller is used for controlling the hysteresis device to output a first acting force to the mechanical structure; the control method comprises the following steps: acquiring a first acting force; acquiring a second acting force required by the mechanical structure to run from an actual position to a desired position without external acting force; acquiring a third acting force applied to the mechanical structure by the external environment; and controlling the mechanical structure to output the actual required acting force to the external environment according to the first acting force, the second acting force and the third acting force. Through combining the mechanical structure and the motion control method, the actual output acting force of the mechanical structure can be regulated and controlled more reasonably, better interaction between the mechanical structure and the external environment is realized, the change of the external environment can be dealt with more flexibly, and the flexibility, the robustness and the safety of the mechanical structure are improved.
Description
Technical Field
The invention relates to the technical field of robots, and is characterized by relating to a control method, a control system, electronic equipment and a storage medium of a robot structure.
Background
In the current mechanical structure training of robot rehabilitation, a fixed impedance strategy is basically adopted, wherein the impedance is the relation between the acting force of the system and the motion of the system, namely the dynamic relation between the tail end and the external environment. The impedance control can overcome the uncertainty of the position, avoid generating larger acting force, and adjust the motion state or the flexibility of the mechanical structure through a force sensing technology. However, the fixed impedance strategy has some problems, such as small impedance change range, weak anti-interference capability, poor flexibility, imperfect safety strategy and the like in the process of interacting with the environment.
While one of the main approaches to the variable impedance strategy is mechanical variable impedance, the main approach is to modify the mechanical mechanism (passive approach) and add flexible elements, such as springs, to the mechanism design. While a variable impedance, such as a series spring mechanism, is achieved by mounting a force sensor and a position sensor on the actuator. The mechanism has the characteristics of large impedance adjustment range, and has the defects of additional cost and complex structural design. Another variable impedance strategy is realized by a software method (active method), and a corresponding motion control algorithm is designed to realize impedance change. The algorithm has the advantages of simple principle and easy realization, and has the disadvantage of smaller variable range of system impedance due to the influence of system bandwidth in consideration of stability factors of a control system.
Disclosure of Invention
The invention aims to overcome the defect that in the prior art, a variable impedance control method of a mechanical structure of a robot is realized only by hardware or software, and the variable impedance range is small, and provides a control method, a control system, electronic equipment and a storage medium of the mechanical structure of the robot.
The invention solves the technical problems by the following technical scheme:
the invention provides a control method of a mechanical structure of a robot, wherein the mechanical structure comprises a hysteresis device and a hysteresis device controller, and the hysteresis device controller is used for controlling the hysteresis device to output a first acting force to the mechanical structure;
the control method comprises the following steps:
acquiring the first acting force;
Acquiring a second acting force required by the mechanical structure to run from an actual position to a desired position without external acting force;
Acquiring a third acting force applied to the mechanical structure by the external environment;
And controlling the mechanical structure to output actual required acting force to the external environment according to the first acting force, the second acting force and the third acting force.
Preferably, the step of obtaining the second force required by the mechanical structure to travel from the actual position to the desired position in the absence of external forces comprises:
acquiring a desired speed at which the mechanical structure is operated to the desired position;
Acquiring an actual speed of the mechanical structure;
The second force required by the mechanical structure to travel from the actual position to the desired position in the absence of external forces is calculated according to a first kinematic equation.
Preferably, the first kinematic equation is:
Wherein F Imp represents the second force, K represents a preset stiffness, B represents a preset damping, x d represents a desired position, x represents an actual position, Indicating that a desired speed is to be achieved,Indicating the actual speed.
Preferably, the step of controlling the mechanical structure to output the actually required acting force to the external environment according to the first acting force, the second acting force and the third acting force specifically includes:
Calculating according to a second calculation formula by combining the first acting force, the second acting force and the third acting force to obtain an actual required acting force for controlling the mechanical structure to output to the external environment;
the second calculation formula is as follows:
wherein τ represents the actual required force, m represents the weight of the mechanical end arm, L represents the length of the mechanical end arm, The method comprises the steps of expressing the angular acceleration of the operation of a mechanical arm at the tail end of a mechanical structure, g expressing the gravitational acceleration, and theta expressing the angular displacement of the mechanical arm at the tail end of the mechanical structure;
calculating the angular acceleration of the mechanical arm at the tail end of the mechanical structure through a third calculation formula;
the third calculation formula is as follows:
Wherein F Imp represents the second force, F ext represents the third force, and F TH represents the first force;
and/or the number of the groups of groups,
The step of obtaining the third acting force applied to the mechanical structure by the external environment specifically comprises the following steps:
the third force applied to the mechanical structure by the external environment is acquired by a force sensor provided to the mechanical structure.
The invention provides a control system of a robot structure, wherein the robot structure comprises a hysteresis device and a hysteresis device controller, and the hysteresis device controller is used for controlling the hysteresis device to output a first acting force to the robot structure;
the control system includes:
the acquisition module is used for acquiring the first acting force;
The acquisition module is also used for acquiring a second acting force required by the mechanical structure to run from an actual position to a desired position in the absence of external acting force;
the acquisition module is also used for acquiring a third acting force applied to the mechanical structure by the external environment;
And the control module is used for controlling the mechanical structure to output actual required acting force to the external environment according to the first acting force, the second acting force and the third acting force.
Preferably, the acquisition module is further configured to acquire a desired speed of the mechanical structure running to the desired position;
The acquisition module is also used for acquiring the actual speed of the mechanical structure;
The control module is further configured to calculate the second force required by the mechanical structure to travel from the actual position to the desired position in the absence of external forces according to a first kinematic equation.
Preferably, the first kinematic equation is:
Wherein F Imp represents the second force, K represents a preset stiffness, B represents a preset damping, x d represents a desired position, x represents an actual position, Indicating that a desired speed is to be achieved,Indicating the actual speed.
Preferably, the control module is further configured to combine the first acting force, the second acting force and the third acting force according to a second calculation formula to obtain an actual required acting force for controlling the mechanical structure to output to the external environment;
the second calculation formula is as follows:
wherein τ represents the actual required force, m represents the weight of the mechanical end arm, L represents the length of the mechanical end arm, The method comprises the steps of expressing the angular acceleration of the operation of a mechanical arm at the tail end of a mechanical structure, g expressing the gravitational acceleration, and theta expressing the angular displacement of the mechanical arm at the tail end of the mechanical structure;
calculating the angular acceleration of the mechanical arm at the tail end of the mechanical structure through a third calculation formula;
the third calculation formula is as follows:
Wherein F Imp represents the second force, F ext represents the third force, and F TH represents the first force;
and/or the number of the groups of groups,
The acquisition module is also used for acquiring the third acting force applied to the mechanical structure by the external environment through a force sensor arranged on the mechanical structure.
The invention provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing a method for controlling a robotic mechanism as described above when executing the computer program.
The present invention provides a computer readable medium having stored thereon a computer program which, when executed by a processor, implements a method of controlling a robotic mechanical structure as described above.
The invention has the positive progress effects that: through combining the mechanical structure and the motion control method, the actual output acting force of the mechanical structure can be regulated and controlled more reasonably, better interaction between the mechanical structure and the external environment is realized, the change of the external environment can be dealt with more flexibly, and the flexibility, the robustness and the safety of the mechanical structure are improved.
Drawings
Fig. 1 is a flow chart of a control method of a robot mechanism according to embodiment 1 of the present invention.
Fig. 2 is a block diagram of the mechanical structure of the control method of the mechanical structure of the robot according to embodiment 1 of the present invention.
Fig. 3 is a flow chart of step S2 of the control method of the robot mechanical structure of embodiment 1 of the present invention.
Fig. 4 is a block diagram showing a variable impedance control algorithm of a control method of a robot mechanism according to embodiment 1 of the present invention.
Fig. 5 is a schematic diagram of the movement of the end robot arm of the variable impedance mechanical structure in the control method of the robot mechanical structure in embodiment 1 of the present invention.
Fig. 6 is a schematic block diagram of a control system of a robot structure according to embodiment 2 of the present invention.
Fig. 7 is a schematic structural diagram of an electronic device according to embodiment 3 of the present invention.
Detailed Description
The invention is further illustrated by means of examples which follow, without thereby restricting the scope of the invention thereto.
Example 1
The embodiment provides a control method of a mechanical structure of a robot, which is realized by combining hardware and software to further control the mechanical structure of the robot, wherein the mechanical structure comprises a hysteresis device and a hysteresis device controller, and the hysteresis device controller is used for controlling the hysteresis device to output a first acting force to the mechanical structure; the mechanical structure also comprises a servo motor, a servo driver, a speed reducer and a tail end mechanical arm. Referring to fig. 2, fig. 2 is a block diagram of a mechanical structure, in which a controller is connected to a hysteresis controller through an adjustable current, and the magnitude of the output force of the hysteresis is changed by changing the magnitude of the current. The Robot (Robot) components mainly include: servo driver, servo motor, speed reducer and terminal robotic arm. The controller controls the position, speed and current of the mechanical structure of the robot (the acting force output by the tail end arm can be understood) and interaction force (the acting force applied by the tail end arm to the external environment) through control signals, and acting force and reaction force exist between the external environment and the tail end arm, and the interaction force is used for marking in the figure. It should be noted that, the robot structure provided in this embodiment belongs to a variable impedance mechanical structure, and the variable impedance mechanical structure and the variable impedance control party are combined, so that the impedance adjustable range of the robot structure is increased.
As shown in fig. 1, the control method is used for controlling the robot structure, and the control method may also be understood as a variable impedance control method, that is, a method for controlling the output acting force of the end arm, where the control method includes:
S1, acquiring a first acting force;
s2, obtaining a second acting force required by the mechanical structure to run from an actual position to a desired position under the condition of no external acting force;
s3, obtaining a third acting force applied to the mechanical structure by the external environment;
and S4, controlling the mechanical structure to output actual required acting force to the external environment according to the first acting force, the second acting force and the third acting force.
It should be noted that, by combining the control method with the robot structure, the end arm can be controlled to output different acting forces, and the adjustable range of the acting force is large, namely the variable range of the impedance is large. The mechanical structure and the external environment are enabled to perform better interaction, the change of the external environment can be more flexibly dealt with, and the flexibility, the robustness and the safety of the mechanical structure are improved.
Further, in one embodiment, referring to fig. 3, step S2 may include:
S21, acquiring expected speed of the mechanical structure running at a desired position;
s22, acquiring the actual speed of the mechanical structure;
s23, calculating a second acting force required by the mechanical structure to run from the actual position to the desired position under the condition of no external acting force according to the first kinematic equation.
Specifically, the first kinematic equation is:
Wherein F Imp represents a second force, K represents a preset stiffness, B represents a preset damping, x d represents a desired position, x represents an actual position, Indicating that a desired speed is to be achieved,Indicating the actual speed.
It should be noted that, calculating the second acting force by using the first kinematic equation needs to be completed by combining with the kinematic model.
Specifically, in one embodiment, step S4 may include: and controlling the mechanical structure to output the actual required acting force to the external environment according to the second calculation formula by combining the first acting force, the second acting force and the third acting force.
The second calculation formula is:
Where τ represents the actual force required, m represents the weight of the mechanical end arm, L represents the length of the mechanical end arm, The method comprises the steps of expressing the angular acceleration of the operation of a mechanical arm at the tail end of a mechanical structure, g expressing the gravitational acceleration, and theta expressing the angular displacement of the mechanical arm at the tail end of the mechanical structure;
calculating the angular acceleration of the mechanical arm at the tail end of the mechanical structure through a third calculation formula;
The third calculation formula is:
Where F Imp represents the second force, F ext represents the third force, and F TH represents the first force.
It should be noted that, the calculation of the actual required acting force by using the third calculation formula needs to be completed by combining with the inverse kinetic model.
In another embodiment, the step of S3 may include acquiring a third force applied to the mechanical structure by the external environment through a force sensor provided to the mechanical structure.
Further, for better understanding and explanation, specific procedures of the variable impedance control algorithm of the robot structure are explained herein, specifically as follows:
As shown in fig. 4, fig. 4 is a block diagram of a variable impedance control algorithm design, x d represents a desired location, Indicating the desired speed level, typically set to 0, x indicating the actual position,Represents actual running speed, K represents system rigidity, B represents system damping, F Imp represents system model output acting force, F ext represents external environment acting force, usually force sensor data, F TH represents hysteresis controller output acting force or moment, m represents end mechanical arm weight, θ represents angular displacement information of the end mechanical arm of the robot,The angular velocity information of the robot end mechanical arm is represented, and F/τ represents the output acting force or moment. INVERSE DYNAMICS denotes the inverse kinetic model of the system, forward Kinematics denotes the forward kinematic model of the system, and Robot and Environment denotes the robot and environment.
As shown in fig. 5, fig. 5 is a schematic diagram of the motion of the end mechanical arm of the variable impedance mechanical structure, and the calculated kinematic equation of the robot is shown in (2).Indicating the x-axis direction velocity in actual operation,The y-axis direction speed in actual operation is represented, v represents the speed information of the robot end mechanical arm operation,And represents the robot angular velocity information.
Where L represents the end-effector length and θ represents the angular displacement information of the robot end-effector motion. (x, y) represents position information in a Cartesian coordinate system.
The Lagrange equation method is adopted based on inverse dynamic equation solving, main solving process formulas are shown in equations (3), (4), (5), (6), (7), (8) and (9), and a final calculation result is shown in equation (10). Wherein the method comprises the steps ofRepresents preset kinetic energy, m represents the weight of the tail end mechanical arm, E (theta) represents preset potential energy,Representing the lagrangian equation factor,Angular acceleration information representing the motion of the end robot arm, τ representing the torque output by the end robot arm.
E(θ)＝-mgLsinθ (4)
As described above, the motion control algorithm of the robot mechanical variable impedance mechanism mainly comprises three major parts, namely a variable impedance mechanical structure, impedance control and a kinematic and dynamic model of the robot system, and the relationships of the parts and the implementation steps of the specific algorithm are summarized as follows:
Step 1: and constructing the variable-impedance mechanical structural component. The entire variable-impedance structural component is assembled, as shown in fig. 2, and the main components include hysteresis, hysteresis controller, servo motor, servo driver, controller, end robot arm, force sensor (disposed on the end arm, not shown in the figure), and the like. After assembly is completed, the hysteresis output torque threshold F TH is dynamically adjusted by the controller.
Step 2: impedance control is established. Namely, according to the difference between the expected point position and the actual position, the difference between the expected point speed and the actual speed is selected to obtain proper output acting force. The actual position and the actual speed are calculated according to equation (2) depending on the kinematic model of the end robot.
Step 3: and (3) establishing a system inverse dynamics model, solving the angular acceleration of the mechanical arm at the tail end of the robot, and solving a formula reference equation (11). And (3) solving the force or moment acting on the variable-impedance mechanical structure of the robot by combining the results in the step (1) and the step (2) to realize the movement of the variable-impedance mechanical structure.
According to the embodiment, the mechanical structure and the motion control method are combined, the actual output acting force of the mechanical structure can be regulated and controlled more reasonably, better interaction between the mechanical structure and the external environment is achieved, the change of the external environment can be dealt with more flexibly, and the flexibility, the robustness and the safety of the mechanical structure are improved.
Example 2
As shown in fig. 6, the present embodiment provides a control system for a robot mechanism, and the robot mechanism 5 includes a hysteresis 1 and a hysteresis controller 2, the hysteresis controller 2 being configured to control the hysteresis 1 to output a first force to the mechanism. The robot mechanical structure provided in embodiment 1 is the same as the mechanical mechanism in this embodiment, and the control method of the robot mechanical structure provided in embodiment 1 may be implemented by the control system of the robot mechanical structure provided in this embodiment.
The control system comprises:
an acquisition module 3 for acquiring a first acting force; the acquisition module 3 is also used for acquiring a second acting force required by the mechanical structure to run from the actual position to the desired position in the absence of external acting force; the acquisition module 3 is also used for acquiring a third force applied to the mechanical structure by the external environment.
And the control module 4 is used for controlling the mechanical structure to output the actual required acting force to the external environment according to the first acting force, the second acting force and the third acting force.
It should be noted that, through the combination of the control system and the robot structure, the end arm can be controlled to output different acting forces, and the adjustable range of the acting force is large, namely the variable range of the impedance is large. The mechanical structure and the external environment are enabled to perform better interaction, the change of the external environment can be more flexibly dealt with, and the flexibility, the robustness and the safety of the mechanical structure are improved.
The acquisition module 3 is also used for acquiring a desired speed of the mechanical structure running to a desired position; the acquisition module 3 is also used for acquiring the actual speed of the mechanical structure; the control module 4 is also adapted to calculate a second force required by the mechanical structure to travel from the actual position to the desired position in the absence of external forces according to the first kinematic equation.
Specifically, the first kinematic equation is:
Wherein F Imp represents a second force, K represents a preset stiffness, B represents a preset damping, x d represents a desired position, x represents an actual position, Indicating that a desired speed is to be achieved,Indicating the actual speed.
It should be noted that, calculating the second acting force by using the first kinematic equation needs to be completed by combining with the kinematic model.
Specifically, the control module 4 is further configured to combine the first acting force, the second acting force and the third acting force according to the second calculation formula to obtain an actual required acting force for controlling the mechanical structure to output to the external environment;
The second calculation formula is:
Where τ represents the actual force required, m represents the weight of the mechanical end arm, L represents the length of the mechanical end arm, The method comprises the steps of expressing the angular acceleration of the operation of a mechanical arm at the tail end of a mechanical structure, g expressing the gravitational acceleration, and theta expressing the angular displacement of the mechanical arm at the tail end of the mechanical structure;
calculating the angular acceleration of the mechanical arm at the tail end of the mechanical structure through a third calculation formula;
The third calculation formula is:
Where F Imp represents the second force, F ext represents the third force, and F TH represents the first force.
It should be noted that, the calculation of the actual required acting force by using the third calculation formula needs to be completed by combining with the inverse kinetic model.
Specifically, the acquisition module 3 is further configured to acquire a third force applied to the mechanical structure by the external environment through a force sensor provided to the mechanical structure.
Further, for better understanding and explanation, a specific process of the operation of the variable impedance control system of the robot structure is explained herein, and the control system implements system control through a control algorithm, specifically as follows:
As shown in fig. 4, fig. 4 is a block diagram of a variable impedance control algorithm design, x d represents a desired location, Indicating the desired speed level, typically set to 0, x indicating the actual position,Represents actual running speed, K represents system rigidity, B represents system damping, F Imp represents system model output acting force, F ext represents external environment acting force, usually force sensor data, F TH represents hysteresis controller output acting force or moment, m represents end mechanical arm weight, θ represents robot end mechanical arm angular displacement information,The angular velocity information of the robot end mechanical arm is represented, and F/τ represents the output acting force or moment. INVERSE DYNAMICS to the reverse dynamics model of the system, forward Kinematics to the forward kinematics of the system, robot and Environment to the robot and environment.
As shown in fig. 5, fig. 5 is a schematic diagram of the motion of the end mechanical arm of the variable impedance mechanical structure, and the calculated kinematic equation of the robot is shown in (2).Indicating the x-axis direction velocity in actual operation,The y-axis direction speed in actual operation is represented, v represents the speed information of the robot end mechanical arm operation,And represents the robot angular velocity information.
Where L represents the end-effector length and θ represents the angular displacement information of the robot end-effector motion. (x, y) represents position information in a Cartesian coordinate system.
The Lagrange equation method is adopted based on inverse dynamic equation solving, main solving process formulas are shown in equations (3), (4), (5), (6), (7), (8) and (9), and a final calculation result is shown in equation (10). Wherein the method comprises the steps ofRepresents preset kinetic energy, m represents the weight of the tail end mechanical arm, E (theta) represents preset potential energy,Representing the lagrangian equation factor,Angular acceleration information representing the motion of the end robot arm, τ representing the torque output by the end robot arm.
E(θ)＝-mgLsinθ (4)
As described above, the motion control algorithm of the robot mechanical variable impedance mechanism mainly comprises three major parts, namely a variable impedance mechanical structure, impedance control and a kinematic and dynamic model of the robot system, and the relationships of the parts and the implementation steps of the specific algorithm are summarized as follows:
Step 1: and constructing the variable-impedance mechanical structural component. The entire variable-impedance structural component is assembled, as shown in fig. 2, and the main components include hysteresis, hysteresis controller, servo motor, servo driver, controller, end robot arm, force sensor (disposed on the end arm, not shown in the figure), and the like. After assembly is completed, the hysteresis output torque threshold F TH is dynamically adjusted by the controller.
Step 2: impedance control is established. Namely, according to the difference between the expected point position and the actual position, the difference between the expected point speed and the actual speed is selected to obtain proper output acting force. The actual position and the actual speed are calculated according to equation (2) depending on the kinematic model of the end robot.
Step 3: and (3) establishing a system inverse dynamics model, solving the angular acceleration of the mechanical arm at the tail end of the robot, and solving a formula reference equation (11). And (3) solving the force or moment acting on the variable-impedance mechanical structure of the robot by combining the results in the step (1) and the step (2) to realize the movement of the variable-impedance mechanical structure.
The control method of the robot structure provided by the embodiment realizes variable impedance control of the mechanical mechanism through a variable impedance algorithm.
According to the embodiment, the mechanical structure and the motion control system are combined, the actual output acting force of the mechanical structure can be regulated and controlled more reasonably, better interaction between the mechanical structure and the external environment is achieved, the change of the external environment can be dealt with more flexibly, and the flexibility, the robustness and the safety of the mechanical structure are improved.
Example 3
Fig. 7 is a schematic structural diagram of an electronic device according to embodiment 3 of the present invention. Comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the control method of the robotic mechanism of the aforementioned embodiment 1 when executing the computer program. The electronic device 30 shown in fig. 7 is only an example and should not be construed as limiting the functionality and scope of use of embodiments of the present invention.
The electronic device 30 may be in the form of a general purpose computing device, which may be a server device, for example. Components of electronic device 30 may include, but are not limited to: the at least one processor 31, the at least one memory 32, a bus 33 connecting the different system components, including the memory 32 and the processor 31.
The bus 33 includes a data bus, an address bus, and a control bus.
Memory 32 may include volatile memory such as Random Access Memory (RAM) 321 and/or cache memory 322, and may further include Read Only Memory (ROM) 323.
Memory 32 may also include a program/utility 325 having a set (at least one) of program modules 324, such program modules 324 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment.
The processor 31 executes various functional applications and data processing, such as a control method of the robot mechanism of embodiment 1 of the present invention, by running a computer program stored in the memory 32.
The electronic device 30 may also communicate with one or more external devices 34 (e.g., keyboard, pointing device, etc.). Such communication may be through an input/output (I/O) interface 35. Also, model-generating device 30 may also communicate with one or more networks, such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the internet, via network adapter 36. As shown, network adapter 36 communicates with the other modules of model-generating device 30 via bus 33. It should be appreciated that although not shown in the figures, other hardware and/or software modules may be used in connection with the model-generating device 30, including, but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (disk array) systems, tape drives, data backup storage systems, and the like.
It should be noted that although several units/modules or sub-units/modules of an electronic device are mentioned in the above detailed description, such a division is merely exemplary and not mandatory. Indeed, the features and functionality of two or more units/modules described above may be embodied in one unit/module in accordance with embodiments of the present invention. Conversely, the features and functions of one unit/module described above may be further divided into ones that are embodied by a plurality of units/modules.
Example 4
The invention also provides a computer-readable medium having stored thereon a computer program which, when executed by a processor, implements the steps of the control method of the robotic mechanical structure of the foregoing embodiment 1.
More specifically, among others, readable storage media may be employed including, but not limited to: portable disk, hard disk, random access memory, read only memory, erasable programmable read only memory, optical storage device, magnetic storage device, or any suitable combination of the foregoing.
In a possible embodiment, the invention may also be realized in the form of a program product comprising program code for causing a terminal device to carry out the steps of the control method of the robot mechanical structure of embodiment 1, when the program product is run on the terminal device.
Wherein the program code for carrying out the invention may be written in any combination of one or more programming languages, the program code may execute entirely on the user device, partly on the user device, as a stand-alone software package, partly on the user device, partly on a remote device or entirely on the remote device.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the principles and spirit of the invention, but such changes and modifications fall within the scope of the invention.
Claims (10)
1. A control method of a robot mechanical structure, characterized in that the mechanical structure comprises a hysteresis and a hysteresis controller for controlling the hysteresis to output a first force to the mechanical structure;
the control method comprises the following steps:
acquiring the first acting force;
Acquiring a second acting force required by the mechanical structure to run from an actual position to a desired position without external acting force;
Acquiring a third acting force applied to the mechanical structure by the external environment;
controlling the moment output by the mechanical structure to the external environment according to the first acting force, the second acting force and the third acting force;
The step of controlling the moment output by the mechanical structure to the external environment according to the first acting force, the second acting force and the third acting force specifically comprises the following steps:
controlling the moment output by the mechanical structure to the external environment by combining the first acting force, the second acting force and the third acting force according to a second calculation formula;
the second calculation formula is as follows:
wherein τ represents the moment output by the mechanical structure end mechanical arm, m represents the mass of the mechanical structure end mechanical arm, L represents the length of the mechanical structure end mechanical arm, The method comprises the steps of expressing the angular acceleration of the operation of a mechanical arm at the tail end of a mechanical structure, g expressing the gravitational acceleration, and theta expressing the angular displacement of the mechanical arm at the tail end of the mechanical structure;
calculating the angular acceleration of the mechanical arm at the tail end of the mechanical structure through a third calculation formula;
the third calculation formula is as follows:
Wherein F Imp represents the second force, F ext represents the third force, and F TH represents the first force.
2. The method of controlling a robotic mechanism as claimed in claim 1, wherein the step of obtaining a second force required by the mechanism to operate from an actual position to a desired position in the absence of an external force comprises:
acquiring a desired speed at which the mechanical structure is operated to the desired position;
Acquiring an actual speed of the mechanical structure;
The second force required by the mechanical structure to travel from the actual position to the desired position in the absence of external forces is calculated according to a first kinematic equation.
3. The method of controlling a robotic mechanism as recited in claim 2, wherein the first kinematic equation is:
Wherein F Imp represents the second force, K represents a preset stiffness, B represents a preset damping, x d represents a desired position, x represents an actual position, Indicating that a desired speed is to be achieved,Indicating the actual speed.
4. A method for controlling a robotic mechanism as recited in claim 1, wherein,
The step of obtaining the third acting force applied to the mechanical structure by the external environment specifically comprises the following steps:
the third force applied to the mechanical structure by the external environment is acquired by a force sensor provided to the mechanical structure.
5. A control system for a mechanical structure of a robot, wherein the mechanical structure comprises a hysteresis and a hysteresis controller for controlling the hysteresis to output a first force to the mechanical structure;
the control system includes:
the acquisition module is used for acquiring the first acting force;
The acquisition module is also used for acquiring a second acting force required by the mechanical structure to run from an actual position to a desired position in the absence of external acting force;
the acquisition module is also used for acquiring a third acting force applied to the mechanical structure by the external environment;
The control module is used for controlling the moment output by the mechanical structure to the external environment according to the first acting force, the second acting force and the third acting force;
the control module is further used for combining the first acting force, the second acting force and the third acting force according to a second calculation formula to obtain a moment for controlling the mechanical structure to output to the external environment;
the second calculation formula is as follows:
wherein τ represents the moment output by the mechanical structure end mechanical arm, m represents the mass of the mechanical structure end mechanical arm, L represents the length of the mechanical structure end mechanical arm, The method comprises the steps of expressing the angular acceleration of the operation of a mechanical arm at the tail end of a mechanical structure, g expressing the gravitational acceleration, and theta expressing the angular displacement of the mechanical arm at the tail end of the mechanical structure;
calculating the angular acceleration of the mechanical arm at the tail end of the mechanical structure through a third calculation formula;
the third calculation formula is as follows:
Wherein F Imp represents the second force, F ext represents the third force, and F TH represents the first force.
6. The control system of a robotic structure as set forth in claim 5 wherein said acquisition module is further configured to acquire a desired speed at which said mechanical structure is traveling to said desired location;
The acquisition module is also used for acquiring the actual speed of the mechanical structure;
The control module is further configured to calculate the second force required by the mechanical structure to travel from the actual position to the desired position in the absence of external forces according to a first kinematic equation.
7. The robotic mechanical structure control system according to claim 6, wherein the first kinematic equation is:
Wherein F Imp represents the second force, K represents a preset stiffness, B represents a preset damping, x d represents a desired position, x represents an actual position, Indicating that a desired speed is to be achieved,Indicating the actual speed.
8. The control system of a robotic machine structure of claim 5,
The acquisition module is also used for acquiring the third acting force applied to the mechanical structure by the external environment through a force sensor arranged on the mechanical structure.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements a method for controlling the mechanical structure of a robot according to any one of claims 1-4 when executing the computer program.
10. A computer-readable medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements a method of controlling a robotic machine as claimed in any one of claims 1-4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210171369.3A CN114536335B (en) | 2022-02-24 | Control method and system of robot mechanical structure, electronic equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210171369.3A CN114536335B (en) | 2022-02-24 | Control method and system of robot mechanical structure, electronic equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114536335A CN114536335A (en) | 2022-05-27 |
| CN114536335B true CN114536335B (en) | 2024-07-09 |
Family
ID=
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111730599A (en) * | 2020-07-08 | 2020-10-02 | 深圳市优必选科技股份有限公司 | Impedance control method and device, impedance controller and robot |
| CN112612203A (en) * | 2020-12-17 | 2021-04-06 | 上海电气集团股份有限公司 | Control method and system of rehabilitation robot, electronic device and storage medium |
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111730599A (en) * | 2020-07-08 | 2020-10-02 | 深圳市优必选科技股份有限公司 | Impedance control method and device, impedance controller and robot |
| CN112612203A (en) * | 2020-12-17 | 2021-04-06 | 上海电气集团股份有限公司 | Control method and system of rehabilitation robot, electronic device and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11845186B2 (en) | Inverse kinematics solving method for redundant robot and redundant robot and computer readable storage medium using the same | |
| CN110065070B (en) | Robot self-adaptive impedance control system based on dynamic model | |
| CN111360830B (en) | Vibration control method of flexible mechanical arm based on cooperative tracking | |
| Ge et al. | Improving regulation of a single-link flexible manipulator with strain feedback | |
| CN106625684B (en) | System and method for analyzing and controlling coupling dynamic characteristics of robot | |
| CN112894821B (en) | Current method based collaborative robot dragging teaching control method, device and equipment | |
| CN113276120B (en) | Control method and device for mechanical arm movement and computer equipment | |
| Bruckmann et al. | An energy-efficient wire-based storage and retrieval system | |
| Chung et al. | Torque optimizing control with singularity-robustness for kinematically redundant robots | |
| Rhee et al. | Hybrid impedance and admittance control of robot manipulator with unknown environment | |
| Zheng et al. | Trajectory control and vibration suppression of rigid‐flexible parallel robot based on singular perturbation method | |
| US11654557B2 (en) | Direct force feedback control method, and controller and robot using the same | |
| CN114536335B (en) | Control method and system of robot mechanical structure, electronic equipment and storage medium | |
| CN112276952B (en) | Robust simultaneous stabilization method and system for multi-robot system | |
| Koeppe et al. | Learning compliant motions by task-demonstration in virtual environments | |
| CN116512245A (en) | Track optimization method and device for inhibiting residual vibration of flexible joint mechanical arm | |
| CN114536335A (en) | Robot mechanical structure control method, system, electronic device and storage medium | |
| CN112428262B (en) | Parallel redundant flexible cable mechanism servo control method based on hyper-ellipsoid mapping analysis algorithm | |
| CN112677728B (en) | Coupling vibration reduction method and device, vibration reduction system and maneuvering platform | |
| Ebrahimi Bavili et al. | Passivity-based control of nonlinear teleoperation systems with non-passive interaction forces | |
| CN112008731B (en) | Compliance control method, device, terminal, system and readable storage medium for aerial work robot | |
| CN115122302A (en) | Six-degree-of-freedom parallel platform master-slave control system based on IMU | |
| Kim et al. | An image-based control scheme for an active stereo vision system | |
| CN113848958B (en) | Limited time fault-tolerant track tracking control method for full-drive anti-unwinding underwater robot based on quaternion | |
| CN114454166B (en) | Impedance control method and device for mechanical arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20220527 Assignee: SHANGHAI ELECTRIC INTELLIGENT REHABILITATION MEDICAL TECHNOLOGY Co.,Ltd. Assignor: Shanghai Electric Group Co.,Ltd. Contract record no.: X2023310000146 Denomination of invention: Control methods, systems, electronic devices, and storage media for robot mechanical structures License type: Exclusive License Record date: 20230919 |
|
| GR01 | Patent grant |