CN114619440A - Method for correcting friction model, robot and computer readable storage medium - Google Patents
Method for correcting friction model, robot and computer readable storage medium Download PDFInfo
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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
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
A method, a robot and a computer readable storage medium for modifying a friction model are disclosed. The method for correcting the friction model comprises the following steps: controlling the robot to execute movement according to the friction model; acquiring the position of a joint motor, feedback torque and friction identification model torque of the robot in the motion process; calculating to obtain theoretical moment through the position of a joint motor; calculating the difference value between the feedback torque and the theoretical torque to obtain the actual friction torque; and correcting the parameters of the friction model based on the actual friction torque and the friction identification model torque. According to the method, the friction torque model is updated automatically, so that the torque precision of the dynamic model is improved, and the motion control performance of the robot is improved.
Description
Technical Field
The present application relates to the field of robot intelligent control technologies, and in particular, to a method for correcting a friction model, a robot, and a computer-readable storage medium.
Background
The industrial robot realizes the function of the robot item by calculating the moment of each joint in the motion process, so the real-time friction force of the robot in the motion process needs to be obtained.
In the prior art, a friction torque-speed model is modeled in advance and is used in a motion process to obtain the friction torque, but the friction torque obtained in the mode possibly has a large error with an actual friction torque, so that the torque precision of a dynamic model of a robot in the motion process is low.
Disclosure of Invention
The method for correcting the friction model, the robot and the computer-readable storage medium mainly solve the technical problem that the model updating algorithm is simple, the moment precision of the dynamic model is improved, and the motion control performance of the robot is further improved.
In order to solve the technical problem, the application adopts a technical scheme that: a method of modifying a friction model is provided, the method comprising: controlling the robot to execute movement according to the friction model; acquiring the position of a joint motor, feedback torque and friction identification model torque of the robot in the motion process; calculating to obtain theoretical moment through the position of a joint motor; calculating the difference value between the feedback torque and the theoretical torque to obtain the actual friction torque; and correcting the parameters of the friction model based on the actual friction torque and the friction identification model torque.
Further, based on the actual friction torque and the friction identification model torque, the parameters of the friction model are corrected, and the method comprises the following steps: acquiring the noise intensity Q of the actual friction torque and the noise intensity R of the friction identification model torque; obtaining a gain coefficient K according to the noise intensity Q of the actual friction torque and the noise intensity R of the friction identification model torque, wherein K is Q/R; based on the gain factor, the parameters of the friction model are corrected.
Further, the friction model parameters comprise friction torque, and the corrected friction torque is equal to the sum of the actual friction torque and a correction coefficient, wherein the correction coefficient is equal to the product of the difference value of the actual friction torque and the friction identification model torque and the gain coefficient.
Further, theoretical moment is obtained through joint motor position calculation, and the theoretical moment comprises the following steps: carrying out differential calculation on the position of a joint motor to obtain joint feedback speed; carrying out differential calculation on the joint feedback speed to obtain a joint feedback acceleration; and calculating by using a dynamic formula to obtain theoretical moment according to the position of the joint motor, the joint feedback speed and the joint feedback acceleration.
Further, the robot includes controller, servo controller and motor, and wherein, servo controller connects servo controller, and servo controller connects the motor, carries out the motion according to friction model control robot, includes: the controller sends a control instruction to the servo controller according to the friction model; and the servo controller controls the motor to execute movement according to the control command.
Further, the joint motor position, the feedback moment and the friction identification model moment of the robot in the motion process are obtained, and the method comprises the following steps: and obtaining the position of the joint motor through motor feedback.
Further, the joint motor position, the feedback moment and the friction identification model moment of the robot in the motion process are obtained, and the method comprises the following steps: and calculating to obtain feedback torque according to the feedback current percentage of the motor, the rated torque of the motor and the reduction ratio of the motor.
Further, the joint motor position, the feedback moment and the friction identification model moment of the robot in the motion process are obtained, and the method comprises the following steps: and calculating the friction identification model torque through the feedback torque.
In order to solve the above technical problem, another technical solution adopted by the present application is: there is provided a robot comprising a memory and a processor, the memory being connected to the processor, the memory having a computer program stored therein, the processor implementing the method of modifying a friction model according to any of the embodiments described above when executing the computer program.
In order to solve the above technical problem, the present application adopts another technical solution: a computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, carries out the method of modifying a friction model of any one of the above embodiments.
The beneficial effect of this application is: in contrast to the prior art, the method for modifying a friction model in the present application comprises: the method comprises the steps of controlling a robot to execute movement according to a pre-established friction model, then obtaining the position of a joint motor, feedback torque and friction identification model torque of the robot in the movement process of the robot, then obtaining theoretical torque through calculation of the obtained position of the joint motor, obtaining actual friction torque through calculation of the difference value of the feedback torque and the theoretical torque, and then correcting parameters of the friction model based on the actual friction torque and the friction identification model torque to update the friction model in real time. The method is simple, and can improve the moment precision of the dynamic model, so that the motion control performance of the robot is improved.
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FIG. 1 is a schematic flow chart diagram illustrating one embodiment of a method for modifying a friction model provided herein;
FIG. 2 is a flowchart illustrating an embodiment of step S11 in FIG. 1;
FIG. 3 is a flowchart illustrating an embodiment of step S15 in FIG. 1;
FIG. 4 is a schematic structural diagram of an embodiment of a robot provided herein;
FIG. 5 is a schematic structural diagram of an embodiment of a computer-readable storage medium provided herein.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Technical solutions between various embodiments may be combined with each other, but must be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.
A complex friction phenomenon exists between transmission structures in the robot joint, and rolling friction and sliding friction exist. The friction phenomenon can cause the servo system to generate crawling, shaking or steady-state errors, which can have adverse effects on the motion stability and control precision of the robot. The application provides a method for correcting a friction model, which has important significance for improving the motion control performance of a robot.
Referring to fig. 1, fig. 1 is a schematic flowchart illustrating an embodiment of a method for correcting a friction model according to the present application. Specifically, the method comprises the following steps:
s11: and controlling the robot to perform the motion according to the friction model.
When the robot is controlled, a friction model is established in advance, wherein the friction model contains parameters of the friction model. And controlling the robot to perform the movement based on the established friction model.
The friction model is particularly important in the identification process of the robot dynamic model. On the one hand, the friction force occupies a large specific gravity in the driving force; model non-linearity, on the other hand, is mainly focused on friction models. Therefore, the accuracy of the parameters of the friction force model has a great influence on the robot motion control performance.
The friction model is mathematically expressed as a function of the variables of friction/torque with respect to speed, displacement, temperature, etc. Friction models can be divided into static friction models and dynamic friction models depending on whether the friction/torque is only related to the speed (another definition is whether the friction phenomenon is described by a differential equation). In the static friction model, the friction force/torque is a unitary function of the speed, the function analysis form can be a constant value (coulomb model), a linear function (coulomb-viscosity model), a nonlinear function (typically, stribeck model) and the like, the function form is established, and the function parameter is a constant value; in the dynamic friction model, the friction force/torque is a multivariate function of speed, displacement, temperature, and the like, and the function analysis form is generally a nonlinear function.
Preferably, a static friction model can be selected to simplify the model structure, reduce the calculation amount, and control the robot to execute the motion according to the static friction model. It will be appreciated that in other embodiments, a dynamic friction model may also be selected to better describe the frictional behavior.
In this embodiment, the robot includes a controller, a servo controller and a motor, wherein the controller is connected to the servo controller, and the servo controller is connected to the motor. In a specific embodiment, as shown in fig. 2, fig. 2 is a schematic flowchart of an embodiment of step S11 in fig. 1, and specifically, the step of controlling the robot to execute the motion according to the friction model includes:
s111: and the controller sends a control command to the servo controller according to the friction model.
And after the controller of the robot acquires the established friction model, sending a control instruction to the servo controller according to the friction model. In particular, the control instructions may be pulse sequence instructions.
S112: and the servo controller controls the motor to execute movement according to the control instruction.
And after receiving the control instruction, the servo controller controls the motor to move according to the control instruction, so that the motor drives the robot to move.
In this embodiment, the controller controls the servo controller according to the friction model, so that the servo controller controls the motor to execute the motion.
S12: and acquiring the position of a joint motor, the feedback torque and the friction identification model torque of the robot in the motion process.
And in the motion executing process of the robot, the position of a joint motor, the feedback torque and the friction identification model torque of the robot are obtained.
Specifically, the feedback pulse of the motor, the rotation speed of the motor and the current percentage of the motor in each interpolation period can be read from the servo controller, and then the joint motor position of the robot can be calculated.
The feedback torque can be calculated according to the feedback current percentage of the motor, the rated torque of the electrode and the reduction ratio. The value of the feedback torque is equal to the percentage of the motor feedback current multiplied by the motor rated torque multiplied by the reduction ratio.
S13: and calculating to obtain theoretical moment through the position of the joint motor.
After the position of the closed motor is obtained, the theoretical moment can be obtained through calculation of the position of the joint motor.
Specifically, after the position of the joint motor is obtained, the position of the joint motor is subjected to differential calculation to obtain the joint feedback speed. And then further carrying out differential calculation on the joint feedback speed to obtain the joint feedback acceleration. And calculating to obtain the theoretical moment by using a dynamic formula according to the position of the joint motor, the joint feedback speed and the joint feedback acceleration.
S14: and calculating the difference value between the feedback torque and the theoretical torque to obtain the actual friction torque.
After the feedback torque and the theoretical torque obtained in step S13 are obtained, the actual friction torque is calculated according to the feedback torque and the theoretical torque. Specifically, the actual friction torque is equal to the difference between the feedback torque and the theoretical torque.
S15: and correcting the parameters of the friction model based on the actual friction torque and the friction identification model torque.
After the actual friction torque and the friction force identification model torque are obtained, parameters of the friction model are corrected based on the actual friction torque and the friction force identification torque so as to update the friction model, and the accuracy of the friction model is improved.
In a specific embodiment, as shown in fig. 3, fig. 3 is a schematic flowchart of an embodiment of step S15 in fig. 1, and specifically, the step S15 may include:
s151: and acquiring the noise intensity Q of the actual friction torque and the noise intensity R of the friction identification model torque.
And acquiring the noise intensity Q of the actual friction torque and the noise intensity R of the friction identification model torque. Specifically, the noise intensity Q of the actual friction torque may be calculated by taking the covariance of the actual friction torque. The noise intensity R of the friction identification model moment can be calculated by taking the covariance of the friction identification model moment.
S152: and obtaining a gain coefficient K according to the noise intensity Q of the actual friction torque and the noise intensity R of the friction identification model torque, wherein K is Q/R.
In this embodiment, the gain coefficient K is obtained by the obtained noise intensity Q of the actual friction torque and the obtained noise intensity R of the friction identification model torque.
Specifically, the gain coefficient K may be equal to the noise strength Q of the actual friction torque divided by the noise strength R of the friction-discriminating model torque, i.e., K — Q/R.
S153: based on the gain factor, the parameters of the friction model are corrected.
After the gain coefficient is obtained, the friction model is corrected according to the gain coefficient obtained through calculation so as to update the parameters of the friction model, and the parameters of the friction model are more accurate.
Specifically, the corrected friction torque is equal to the sum of the actual friction torque and a correction coefficient, wherein the correction coefficient is equal to the product of the gain coefficient and the difference between the actual friction torque and the friction identification model torque.
In this embodiment, the friction torque in the friction model can be updated by itself to obtain more accurate friction torque. The method provided by the application can improve the moment precision of the dynamic model, further improve the motion control performance of the robot, and is simple in model updating algorithm, small in occupied calculation amount and high in practicability.
Based on this, the present application further provides a robot 100, please refer to fig. 4, fig. 4 is a schematic structural diagram of an embodiment of the robot provided in the present application, in this embodiment, the robot 100 includes a processor 110 and a memory 120, the processor 110 is coupled to the memory 120, the memory 120 is used for storing a program, and the processor 110 is used for executing the program to implement the method for modifying a friction model according to any of the embodiments.
Based on this, the present application further provides a computer-readable storage medium 200, please refer to fig. 5, and fig. 5 is a schematic structural diagram of an embodiment of the computer-readable storage medium provided in the present application. In this embodiment, a computer program 210 is stored in the computer-readable storage medium 200, and the computer program 210 can be executed by a processor to implement the method for modifying a friction model according to any one of the above embodiments.
The computer program 210 may be stored in the computer-readable storage medium 200 in the form of a software product, and includes several instructions for causing a device or a processor to execute all or part of the steps of the methods according to the embodiments of the present application.
The computer-readable storage medium 200 is a medium in a computer memory for storing some discrete physical quantity. And the aforementioned computer-readable storage medium 200 includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and the like, which can store the code of the computer program 210.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules or units is only one type of logical functional division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each of the units may exist alone physically, or two or more units may be integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The above description is only for the purpose of illustrating embodiments of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application or are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.
Claims (10)
1. A method of modifying a friction model, the method comprising:
controlling the robot to execute movement according to the friction model;
acquiring the joint motor position, the feedback torque and the friction identification model torque of the robot in the motion process;
calculating to obtain theoretical torque according to the position of the joint motor;
calculating the difference value between the feedback torque and the theoretical torque to obtain an actual friction torque;
and correcting the parameters of the friction model based on the actual friction torque and the friction identification model torque.
2. The method of claim 1, wherein the modifying the parameters of the friction model based on the actual friction torque and the friction recognition model torque comprises:
acquiring the noise intensity Q of the actual friction torque and the noise intensity R of the friction identification model torque;
obtaining a gain coefficient K according to the noise intensity Q of the actual friction torque and the noise intensity R of the friction identification model torque, wherein K is Q/R;
and correcting the parameters of the friction model based on the gain coefficient.
3. The method of claim 2, wherein the friction model parameters include a friction torque,
the corrected friction torque is equal to the sum of the actual friction torque and the correction coefficient, wherein the correction coefficient is equal to the product of the gain coefficient and the difference value of the actual friction torque and the friction identification model torque.
4. The method of claim 1, wherein the calculating a theoretical moment from the joint motor position comprises:
carrying out differential calculation on the position of the joint motor to obtain joint feedback speed;
carrying out differential calculation on the joint feedback speed to obtain a joint feedback acceleration;
and calculating by using a dynamic formula to obtain the theoretical moment according to the position of the joint motor, the joint feedback speed and the joint feedback acceleration.
5. The method of claim 1, wherein the robot comprises a controller, a servo controller, and a motor, wherein the controller is coupled to the servo controller, wherein the servo controller is coupled to the motor, wherein controlling the robot to perform a motion according to the friction model comprises:
the controller sends a control instruction to the servo controller according to the friction model;
and the servo controller controls the motor to execute movement according to the control instruction.
6. The method of claim 1, wherein the obtaining of joint motor positions, feedback moments, and friction recognition model moments of the robot during motion comprises:
and obtaining the position of the joint motor through motor feedback.
7. The method of claim 1, wherein the obtaining of joint motor positions, feedback torques, and friction recognition model torques of the robot during motion comprises:
and calculating the feedback torque according to the feedback current percentage of the motor, the rated torque of the motor and the reduction ratio of the motor.
8. The method of claim 7, wherein the obtaining of joint motor positions, feedback moments, and friction recognition model moments of the robot during motion comprises:
and calculating the friction identification model torque through the feedback torque.
9. A robot, characterized in that the robot comprises a memory and a processor, the memory being connected to the processor, the memory having stored therein a computer program, the processor implementing the method according to any of claims 1-8 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 8.
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| CN116000916A (en) * | 2022-10-20 | 2023-04-25 | 重庆金山医疗机器人有限公司 | Joint torque control method and device of surgical robot and surgical robot |
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| CN116000916A (en) * | 2022-10-20 | 2023-04-25 | 重庆金山医疗机器人有限公司 | Joint torque control method and device of surgical robot and surgical robot |
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