CN114800465B - Method for improving detection precision of robot joint torque and multi-joint robot - Google Patents
Method for improving detection precision of robot joint torque and multi-joint robot Download PDFInfo
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- CN114800465B CN114800465B CN202110126502.9A CN202110126502A CN114800465B CN 114800465 B CN114800465 B CN 114800465B CN 202110126502 A CN202110126502 A CN 202110126502A CN 114800465 B CN114800465 B CN 114800465B
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- 238000012545 processing Methods 0.000 claims description 11
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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
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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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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Abstract
The invention relates to a method for improving the torque detection precision of a robot joint and a multi-joint robot, wherein the robot comprises a plurality of joints, and each joint comprises a torque sensor, and the method is characterized by comprising the following steps: presetting information: presetting calibration information of each joint torque sensor of a robot and establishing a robot mechanical model, wherein the calibration information represents coupling influence of joint stress on joint torque information of the torque sensor; the acquisition step: acquiring joint torque information of each joint; the calculation steps are as follows: calculating joint stress information of each joint of the robot according to the robot mechanical model and the joint torque information; decoupling: and decoupling the joint torque information of the torque sensor according to the calibration information and the joint stress information, and outputting the decoupled joint torque information. The beneficial effects of the invention are as follows: the joint torque information precision is high, and the robot control precision is better.
Description
Technical Field
The invention relates to the field of industrial robots, in particular to a method for improving the detection precision of the joint torque of a robot and a multi-joint robot.
Background
Industrial robots are a type of robots widely used in industrial environments, and generally can be classified into conventional industrial robots and collaborative robots, which are novel industrial robots that are small in size and easy to install and can be used in various scenes such as business, service industry, etc. The application scene of the collaborative robot diversification makes the collaborative robot put higher requirements on safety and precision.
In some use cases, such as welding, it is desirable that the end accuracy of the industrial robot be sufficiently good to ensure the effectiveness of the work. In the prior art, some robot manufacturers have begun to attempt to install torque sensors in the joints of industrial robots to improve the end-of-robot accuracy. At present, most robot manufacturers have own robot body design, the optimization of the robot mainly aims at optimizing hardware and software, the structure of the robot is relatively stable, a moment sensor is added to the existing robot structure, and great changes are required to be made to the robot body design.
Meanwhile, when each joint of the industrial robot is provided with a moment sensor, the joint is possibly influenced by external force, the moment sensor is coupled, the detection precision of the moment sensor is influenced, and then the force control precision of the industrial robot is influenced, so that the tail end precision of the industrial robot is insufficient to meet the scene with high precision requirement. In order to solve the problem of coupling of the joint moment sensor, the prior art is improved by changing a mechanical structure, the design difficulty of the method is high, the realization is complex, the weight and the volume of the joint are increased, and meanwhile, the increased mechanical structure increases the production and manufacturing cost of the robot, so that the robot is not beneficial to being widely popularized and used.
Therefore, it is necessary to design a method for improving the detection precision of the robot joint torque with easy implementation and good precision and a multi-joint robot.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a method for improving the accuracy of detecting the torque of a robot joint with ease of implementation and high accuracy, and a multi-joint robot.
The invention adopts the following technical scheme: a method of improving accuracy of torque detection of a robot joint, the robot comprising a plurality of joints, each joint comprising a torque sensor, the method comprising: presetting information: presetting calibration information of each joint torque sensor of a robot and establishing a robot mechanical model, wherein the calibration information represents coupling influence of joint stress on joint torque information of the torque sensor; the acquisition step: acquiring joint torque information of each joint; the calculation steps are as follows: calculating joint stress information of each joint of the robot according to the robot mechanical model and the joint torque information; decoupling: and decoupling the joint torque information of the torque sensor according to the calibration information and the joint stress information, and outputting the decoupled joint torque information.
Further, the obtaining step includes: acquiring joint torque information of each joint through a torque sensor; and/or detecting the current of each joint, and accordingly acquiring joint torque information of each joint.
Further, the method comprises the steps of: and repeating the calculating step and the decoupling step, iteratively processing the joint torque information, and outputting final joint torque information.
Further, the method comprises the steps of: and when the iteration times are greater than or equal to the preset times, outputting final joint torque information.
Further, the method comprises the steps of: and when the difference value between the joint torque information output in the previous iteration period and the joint torque information output in the current iteration period is smaller than or equal to a preset difference value, outputting final joint torque information.
Further, the torque sensor comprises an input connection flange and an output connection flange, and the torque sensor is used as an output flange of the robot joint.
Further, the torque sensor is a torque sensor.
The invention can also adopt the following technical scheme: the utility model provides a multi-joint robot, includes a plurality of joints and connecting rod, the joint includes motor, reduction gear, torque sensor includes input flange connection pad and output flange connection pad, multi-joint robot includes: the preset information unit is used for presetting calibration information of each joint of the robot and establishing a mechanical model of the robot, wherein the calibration information represents coupling influence of joint stress on joint torque information of the torque sensor; an acquisition unit configured to acquire joint torque information of each joint; the calculation unit is electrically connected with the preset information unit and the acquisition unit and is used for acquiring joint stress information of each joint according to the mechanical model and the joint torque information; the decoupling unit is electrically connected with the torque sensor and the calculating unit and is used for carrying out decoupling processing on joint torque information of the torque sensor according to the calibration information and the joint stress information and outputting the decoupled joint torque information.
Further, the acquiring unit is a torque sensor, and/or the acquiring unit includes a current detecting unit, and acquires joint torque information of each joint according to the current detecting unit.
Further, the multi-joint robot is a six-joint cooperative robot.
Compared with the prior art, the beneficial effects of the specific embodiment of the invention are as follows: and through presetting calibration information and establishing a robot mechanical model, according to the detection of the moment sensors of each joint of the robot, the coupling influence of external forces of the joints is removed, and the precision of the joint torque information is further improved. Further, the joint torque information is iteratively processed, so that the accuracy of the joint torque information is further improved. The method removes the coupling influence of the external force of the joints, does not need to change the structural design of the robot, and is easy to realize and low in cost.
Drawings
The above-mentioned objects, technical solutions and advantages of the present invention can be achieved by the following drawings:
FIG. 1 is a schematic diagram of a method for improving the accuracy of detection of a robot joint torque according to one embodiment of the present invention
FIG. 2 is a schematic diagram of a method for improving the accuracy of detecting the torque of a robot joint according to another embodiment of the present invention
FIG. 3 is a schematic diagram of a method for improving the accuracy of machine joint torque detection according to yet another embodiment of the present invention
FIG. 4 is a block diagram of an articulated robot according to one embodiment of the invention
FIG. 5 is a schematic view of a multi-joint robot according to one embodiment of the invention
FIG. 6 is a schematic view of a joint of a multi-joint robot according to one embodiment of the invention
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, a clear and complete description of the solutions according to the embodiments of the present invention will be given below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention provides a method for improving the torque detection precision of a robot joint, the robot comprises a plurality of joints, each joint comprises a torque sensor, and referring to fig. 1, the method comprises the following steps: s1, presetting information, namely presetting calibration information of each joint torque sensor of the robot and establishing a robot mechanical model, wherein the preset information represents coupling influence of joint stress on joint torque information detected by the torque sensors; s2, acquiring joint torque information of each joint; s3, calculating joint stress information of each joint of the robot according to the robot mechanical model and the joint torque information; s4, decoupling the joint torque information of the torque sensor according to the calibration information and the joint stress information, and outputting the decoupled joint torque information. Specifically, calibration information of the moment sensors of the joints represents coupling influence of forces and moments in all directions of the robot, specifically, the calibration information represents influence of forces in all directions on accuracy of joint torque information output by the moment sensors of the joints, influence of external force on different robots is different, and coupling influence of forces and moments in all directions on the joint torque information detected by the moment sensors is confirmed through preset calibration data. The mechanical model is built, and the joint stress information of each joint is obtained according to the mechanical model of the robot and the joint torque information, wherein various ways of building the mechanical model can be adopted in the scheme, so long as the purpose of building the robot mechanical model can be achieved, and various ways can also be adopted for obtaining the joint torque information in the scheme. And confirming the external force of each joint according to the joint stress information of each joint, comparing the calibration information to determine the influence of external force coupling of each joint, decoupling the joint torque information, and improving the accuracy of the decoupled joint torque information. The motion of the robot is realized through the rotary motion of each joint, each joint is matched with rotation to achieve various expected poses, when the robot receives external force, the influence of the external force on the motion of the robot is mainly reflected in joint torque information, the main external force action of the robot is obtained through the joint torque information based on each joint and a mechanical model of the robot, decoupling processing is carried out, and then the detection precision of a joint torque sensor is improved, so that the force control precision of the robot is improved.
Further, the step of S2 obtaining is configured to obtain joint torque information of each joint, and in one embodiment of the present invention, the step of S2 obtaining includes: acquiring joint torque information of each joint through a torque sensor, namely, each joint comprises a torque sensor, and the torque sensors of each joint are respectively detected to acquire the joint torque information of each joint; and/or, the step of S2 obtaining includes: the current of each joint is detected, so that the joint torque information of each joint is obtained, namely, the joint torque information of each joint can be calculated according to the current of each joint and combining the joint necessary parameters and common knowledge in the field. According to the mode of acquiring the joint torque information by the current of each joint, the situation that the joint stress is possibly inaccurate to calculate according to the joint torque information detected by the moment sensor under the condition that the initial detection accuracy of the moment sensor is low can be avoided, and therefore better decoupling effect on the joint torque information of the moment sensor cannot be achieved. Meanwhile, joint torque information is calculated through joint current, the precision of the calculated joint torque information cannot reach a higher level, joint stress information is calculated by means of the joint torque information, and therefore the joint torque information of the torque sensor is decoupled, the precision of the joint torque information of the torque sensor can be effectively improved, and further the joint torque information with good precision is obtained.
Further, the method comprises the steps of: and repeating the calculating step and the decoupling step, iteratively processing the joint torque information, and outputting final joint torque information. The final joint torque information is the basis for subsequent processing of the robot, and the force control operation of the robot is executed according to the final joint torque information. The method comprises the steps of obtaining the decoupled joint torque information through the mode, repeating the calculation step, calculating joint stress information of each joint of the robot according to the decoupled joint torque information of each joint and the mechanical model, and performing decoupling treatment to obtain the decoupled joint torque information again. That is, by repeating the calculation step, the joint torque information is iteratively processed, the joint torque information is continuously updated, and final joint torque information, which is joint torque information output by repeating the calculation step for the last time, is output.
In one embodiment of the invention, the method comprises: and when the iteration times are greater than or equal to the preset times, outputting final joint torque information. Referring to fig. 2, setting the joint torque information of each joint as T N, setting the decoupled joint torque information as T N ', N representing the number of times of repeating the calculation step, when the method is executed for the first time, n=1, acquiring the joint torque information T 1 of each joint in the acquisition step, calculating the joint stress information based on the joint torque information T 1 acquired in the acquisition step, decoupling the joint torque information T N of the torque sensor according to the calibration information and the joint stress information in the decoupling step, obtaining decoupled T N ', judging whether the repetition number N is greater than or equal to the preset number N preset, if so, outputting final joint torque information T N ', otherwise, updating the joint torque information T N+1＝TN ', that is, executing the next calculation step and decoupling step according to the decoupled joint torque information T N ', so as to decouple the joint torque information again, and improving the accuracy again, and increasing the repetition number n=n+1. And through repeated iterative processing, the finally output joint torque information has better precision.
In another embodiment of the present invention, the method comprises: and when the difference value between the joint torque information output in the previous iteration period and the joint torque information output in the current iteration period is smaller than a preset difference value, outputting final joint torque information. Through repeated iteration processing, the precision of the joint torque information is gradually improved, and when the iteration times are greater than or equal to the preset times or the difference value between the joint torque information output in the previous iteration period and the joint torque information output in the current iteration period is smaller than the preset difference value, the precision of the joint torque information is relatively higher, and the joint torque information with higher precision can be obtained at the moment, so that the robot control precision is better. Referring to fig. 3, setting the torque information of each joint to be T N, decoupling the joint torque information to be T N ', N indicating the number of times of repeating the calculation step, when the method is performed for the first time, n=1, the acquisition step acquires the joint torque information T 1 of the torque sensor of each joint, the calculation step calculates the joint stress information based on the joint torque information T 1 acquired in the acquisition step, the decoupling step decouples the joint torque information T N of the torque sensor according to the calibration information and the joint stress information to obtain decoupled T N', judging whether the difference value between the joint torque information T N ' output by the current iteration period and the joint torque information T N-1 output by the previous iteration period is smaller than or equal to a preset difference value delta T preset, if the difference value is satisfied, outputting the joint torque information T N ' of the current iteration period, otherwise, updating the joint torque information T N ', namely executing the next calculation step according to the decoupled joint torque information T N ', so as to decouple the joint torque information T N ' again, improving the precision again, and increasing the repetition number N=N+1. And through repeated iterative processing, the finally output joint torque information has better precision. At the same time, the method comprises the steps of, set T 0 the process is carried out in a manner of = +++, so as to avoid generating wrong operation results.
In one embodiment of the invention, the torque sensor of the robot joint comprises an input connection flange and an output connection flange, said joint torque sensor serving as an output flange of said robot joint. The torque sensor is used for detecting the output torque of the joint and the output flange of the joint, so that the function of detecting the joint torque information is realized on the basis of not changing the structural design of the robot joint, and meanwhile, the method provided by the invention has the advantages that the precision of the joint torque information is higher, and the robot manual control precision is better.
In one embodiment of the present invention, the torque sensor is a torque sensor, the torque sensor is used for outputting joint torque information of the robot, and the calibration information is used for representing coupling influence of force and torque on the torque. In other embodiments, the torque sensor may be a three-dimensional torque sensor, and the torque sensor is used to acquire joint torque information, and the decoupling processing is performed by the method, so that the influence of external force on the detection of the joint torque information can be effectively reduced or even eliminated, and the force control precision of the robot is further improved.
The beneficial effects of the above preferred embodiments are: according to the method, the influence of external force on joint torque information is obtained through presetting calibration information of the joint torque sensor, decoupling treatment is carried out, so that the joint torque information detection precision is high, and the force control precision of the robot is high.
The present invention is also used to provide a multi-joint robot, referring to fig. 4-5, the multi-joint robot 100 includes several joints and links, referring to fig. 6, a schematic diagram of a joint 20 of an embodiment of the present invention is shown, the joint includes a motor, a decelerator, a torque sensor, the torque sensor includes an input flange connection pad and an output flange connection pad, the multi-joint robot 100 includes: the preset information unit 30 is used for presetting calibration information of each joint of the robot and establishing a mechanical model of the robot, wherein the calibration information represents coupling influence of joint stress on joint torque information of the torque sensor; an acquisition unit 40 for acquiring joint torque information of each joint; the calculating unit 50 is electrically connected to the preset information unit 30 and the acquiring unit 40, and is configured to acquire joint stress information of each joint according to the mechanical model and the joint torque information; the decoupling unit 60 is electrically connected to the torque sensor 22 and the calculating unit 50, and is configured to decouple joint torque information of the torque sensor according to the calibration information and the joint stress information, and output the decoupled joint torque information. Further, the motor is connected to the input end of the decelerator, the input flange connection pad is connected to the output end of the decelerator, and the output flange connection pad is connected to the housing 21 of the joint 20. The torque sensor 22 is connected to the output end of the reducer and the outer shell 21 of the joint, and is used for detecting joint torque information and serving as an output flange of the joint 20, so that the joint structure is compact compared with a mode of independently installing the torque sensor and the output flange of the joint. The calculation unit 50 of the robot 100 determines stress information of the joint 20, and the decoupling unit outputs the decoupled joint torque information to the joint torque information of the torque sensor 22, thereby improving the accuracy of the joint torque information.
The multi-joint robot 100 includes an acquisition unit 40 to acquire joint torque information of each joint 20. In one embodiment of the present invention, the acquiring unit is a torque sensor, acquires joint torque information of each joint through the torque sensor of each joint, and/or the acquiring unit includes a current detecting unit, and acquires the joint torque information of each joint according to the current detecting unit, specifically, the current detecting unit acquires the joint torque information of each joint, a joint necessary parameter and general knowledge in the art, thereby acquiring the joint torque information of each joint. When the joint torque information is acquired by adopting a mode of the current detection unit, the calculation unit calculates joint stress information based on the joint torque information acquired by the current detection unit, and the decoupling unit further decouples the joint torque information of the torque sensor based on the joint stress information to acquire high-precision joint torque information.
In one embodiment of the present invention, each joint 20 of the multi-joint robot 100 includes a torque sensor, the torque sensor 22 includes a support beam and a measurement beam, the measurement Liang Niantie strain gages, the support beam and the measurement beam are connected between the input flange connection pad and the output flange connection pad, and the support beam is used to enhance the rigidity of the torque sensor. The torque sensor is adapted to detect joint torque information and to ensure rigidity so that it is suitable for use as an output flange for a joint. The multi-joint robot provided by the invention has the advantages of compact structure and good joint torque information precision. The motion of the multi-joint robot is completed by the rotation of each joint, the force control precision of the robot can be improved by detecting and decoupling joint torque information, and the torque sensor is preferably a torque sensor.
In a specific embodiment, the multi-joint robot 100 is a six-joint collaborative robot.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (7)
1. A method of improving accuracy of torque detection of a robot joint, the robot comprising a plurality of joints, each joint comprising a torque sensor, the method comprising:
Presetting information: presetting calibration information of each joint torque sensor of a robot and establishing a robot mechanical model, wherein the calibration information represents coupling influence of joint stress on joint torque information of the torque sensor;
The acquisition step: acquiring joint torque information of each joint;
The calculation steps are as follows: calculating joint stress information of each joint of the robot according to the robot mechanical model and the joint torque information;
Decoupling: decoupling joint torque information of a torque sensor according to the calibration information and the joint stress information, and outputting the decoupled joint torque information;
The method comprises the following steps: repeating the calculating step and the decoupling step, iteratively processing the joint torque information, and outputting final joint torque information;
The method comprises the following steps: when the iteration times are greater than or equal to the preset times, outputting final joint torque information; or when the difference value between the joint torque information output in the previous iteration period and the joint torque information output in the current iteration period is smaller than or equal to a preset difference value, outputting final joint torque information.
2. The method of claim 1, wherein the step of obtaining comprises: acquiring joint torque information of each joint through a torque sensor; and/or detecting the current of each joint, and accordingly acquiring joint torque information of each joint.
3. The method of claim 1, wherein the torque sensor comprises an input connection flange and an output connection flange, the torque sensor serving as an output flange of the robotic joint.
4. The method of claim 1, wherein the torque sensor is a torque sensor.
5. The utility model provides a multi-joint robot, includes a plurality of joints and connecting rod, its characterized in that, the joint includes motor, reduction gear, torque sensor includes input flange connection pad and output flange connection pad, multi-joint robot includes:
the preset information unit is used for presetting calibration information of each joint of the robot and establishing a mechanical model of the robot, wherein the calibration information represents coupling influence of joint stress on joint torque information of the torque sensor;
an acquisition unit configured to acquire joint torque information of each joint;
the calculation unit is electrically connected with the preset information unit and the acquisition unit and is used for acquiring joint stress information of each joint according to the mechanical model and the joint torque information;
The decoupling unit is electrically connected with the torque sensor and the calculation unit and is used for carrying out decoupling treatment on joint torque information of the torque sensor according to the calibration information and the joint stress information and outputting the decoupled joint torque information;
The multi-joint robot includes: repeating the calculation unit and the decoupling unit, iteratively processing the joint torque information, and outputting final joint torque information;
the multi-joint robot includes: when the iteration times are greater than or equal to the preset times, outputting final joint torque information; or when the difference value between the joint torque information output in the previous iteration period and the joint torque information output in the current iteration period is smaller than or equal to a preset difference value, outputting final joint torque information.
6. The multi-joint robot according to claim 5, wherein the acquisition unit is a torque sensor, and/or the acquisition unit includes a current detection unit, and the joint torque information of each joint is acquired according to the current detection unit.
7. The multi-joint robot of claim 5, wherein the multi-joint robot is a six-joint collaborative robot.
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| CN202110126502.9A CN114800465B (en) | 2021-01-29 | 2021-01-29 | Method for improving detection precision of robot joint torque and multi-joint robot |
| PCT/CN2022/072969 WO2022161245A1 (en) | 2021-01-29 | 2022-01-20 | Method for improving joint torque measurement precision of robot, and multi-joint robot |
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| CN202110126502.9A CN114800465B (en) | 2021-01-29 | 2021-01-29 | Method for improving detection precision of robot joint torque and multi-joint robot |
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| 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 |
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| US10632626B2 (en) * | 2016-06-07 | 2020-04-28 | Worcester Polytechnic Institute | Biologically-inspired joints and systems and methods of use thereof |
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| CN109202884A (en) * | 2017-06-30 | 2019-01-15 | 沈阳新松机器人自动化股份有限公司 | A kind of Flexible Multi-joint robot vibration suppressing method and control system |
| CN110370271A (en) * | 2019-04-30 | 2019-10-25 | 杭州亿恒科技有限公司 | The joint transmission ratio error calibration method of industrial serial manipulator |
| CN111469128A (en) * | 2020-04-21 | 2020-07-31 | 昆明理工大学 | Current coupling signal separation and extraction method for articulated robot |
| 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 |
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