CN114800513B - System and method for automatically generating robot shaft hole assembly program based on single dragging teaching - Google Patents
System and method for automatically generating robot shaft hole assembly program based on single dragging teaching Download PDFInfo
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with leader teach-in means
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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
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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
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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
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention discloses a system and a method for automatically generating a robot shaft hole assembly program based on single dragging teaching, which relate to the field of robot control, wherein equipment adopted by the method comprises a six-axis robot, a six-dimensional force sensor arranged at the tail end of the six-axis robot and a clamping jaw arranged on the six-dimensional force sensor for executing assembly, and the method comprises the following steps: acquiring energy information formed by force bit mixed information in a teaching process; judging the assembly direction and the compliance direction according to the acquired energy information; assembling driving force is learned according to the maximum friction mechanics in the teaching process, and the assembling driving force is adapted to the assembling process through an automatic adjusting mechanism; automatically acquiring control parameters in single dragging teaching, and realizing a compliance direction adjustment strategy by utilizing an admittance controller; automatically generating a program for shaft hole assembly. According to the invention, the assembly parameters can be learned through one-time dragging teaching, the programming threshold of the robot is reduced, the assembly development speed of the robot is accelerated, and the cost is greatly reduced.
Description
Technical Field
The invention relates to the field of industrial robots, in particular to a method for automatically generating a robot shaft hole assembly program based on single dragging teaching.
Background
As the demands of users are diversified, multi-class small-volume production is beginning to be raised in recent years. Industrial robots have increased the level of flexible production to some extent in the assembly line, but in the face of frequently changing products, robot programs also require specialized engineers to develop and maintain, resulting in extremely high costs.
There are generally two ways of robot assembly at present, one based on hardware assistance and one based on control. Based on a hardware-assisted mode, a so-called far-end center compliance compensator is usually added at the tail end of the mechanical arm, and the far-end center compliance compensator consists of a plurality of springs and a certain mechanical structure and is used for forming natural compliance and assisting the assembly process. The control-based approaches are quite diverse, including both vision-based and force-based approaches. The vision-based control mode is to extract the vision characteristics of the shaft and the hole in the assembly process to design a servo control rate so as to realize adjustment and assembly; force control is typically based on modeling the assembly process contact force state, followed by assembly work in the form of impedance control or force-position hybrid control.
The above approaches work well in high volume production, but if multiple classes are assembled in small volumes, the cost of replacing hardware or changing programs is prohibitive.
Accordingly, those skilled in the art have been directed to developing a system and method for generating a robot shaft hole assembly program based on a single drag teaching.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the present invention is to solve the current situation that the cost of the original control method is too high in the assembly work, and the parameters can be assembled through a single teaching, so as to reduce the assembly cost of the robot.
In order to achieve the above object, the present invention provides a method for automatically generating a robot shaft hole assembly program based on a single drag teaching, the robot shaft hole assembly method employing equipment including a six-axis robot, a six-dimensional force sensor mounted at the end of the six-axis robot, and a jaw mounted on the six-dimensional force sensor for performing assembly, the method comprising:
step 1, energy information formed by force bit mixed information in a teaching process is obtained;
step 2, judging the assembly direction and the compliance direction according to the obtained energy information;
step 3, assembling driving force is learned according to the maximum friction force in the teaching process, and the assembling driving force is adapted to the assembling process through an automatic adjustment mechanism;
step 4, automatically acquiring control parameters in single dragging teaching, and realizing a compliance direction adjustment strategy by utilizing an admittance controller;
and 5, automatically generating a program for shaft hole assembly.
Further, the step 3 specifically includes:
step 3.1, recording the maximum friction force between shaft holes in the teaching assembly process;
step 3.2, designing the impedance controller by taking the maximum friction force as a reference of the assembly force.
Further, in step 4, the parameters of the admittance controller are learned from the force-position mixing information of the teaching process, and the parameters of the admittance controller include a mass parameter, a damping parameter and a stiffness parameter.
Further, in step 4, the mass parameter of the admittance controller is directly calculated by the robot dependent link inertia matrix:
M＝J -T M(θ)J -1
wherein M is a mass matrix, J is a Jacobian matrix, M (theta) is a robot connecting rod inertia matrix, the inertia of the additional equipment is recorded into the inertia of the end connecting rod, the rigidity parameter of the admittance controller is learned through a far-end center flexible design model, and the damping matrix is determined by the mass matrix and the rigidity matrix when a critical damping system is formed.
Further, the six-dimensional force sensor is used as virtual remote center compliant equipment to realize remote center compliant design model learning.
Further, the specific process of learning the stiffness parameters of the admittance controller through the distal center compliance design model includes: a plane model is built according to a plane where two points are contacted, and then the plane model is promoted to a space by shaft hole symmetry; the force model in the two-point contact state in the demonstration process is as follows:
wherein F is x Representing force along x-axis, k x Is the rigidity coefficient in the x direction, L g Is the distance from the center of the bottom of the shaft to the compliant center, θ 0 Is the initial angle error, l is the depth of shaft insertion, ε 0 Initial linearity error, c is the shaft hole gap ratio, defined as:d is the diameter of the hole, D is the diameter of the shaft, and the moment model in the two-point contact state in the demonstration process is as follows:
wherein T is y Is the moment along the y-axis, k θ Is the torsional stiffness coefficient around the y-axis, parameter L g The system is set as follows:
wherein μ is the coefficient of friction between the shaft holes; the flexible rigidity parameter of the virtual distal end center is converted into a robot tool coordinate system through the coordinate system to form the condition of a critical damping system, and a damping matrix is determined according to the mass matrix and the rigidity matrix.
Further, in step 4, admittance control along the compliant direction and impedance control along the assembly direction are performed under a compliant coordinate system and a dynamic balance coordinate system respectively, and then the control amount is transferred to the tool system through accompanying transformation, combined and then uniformly sent to the robot for control.
Further, for the formula
Integrating to obtain the space velocity under the robot tool system and transmitting the space velocity to a robot controller; wherein,m is the combined mass matrix, w is the data of the six-dimensional force sensor, B is the damping matrix, V is the space velocity of the end tool system, K 1 、S 1 、θ 1 K is as follows 2 、S 2 、θ 2 A stiffness matrix in the compliant direction and in the assembly direction, respectively, a screw axis and a rotation angle around the screw axis.
Further, in the impedance controller designed in step 3.2, the initial target coordinate system is set at a certain distance below the hole opening, the distance is self-adjusted according to the shaft hole assembly length, so that the product of the rigidity coefficient of the impedance control and the distance from the tail end of the shaft to the initial target coordinate system is equal to the maximum friction force in the teaching process, and in order that the shaft can smoothly move to the bottom of the hole, the target coordinate system can slowly move from the initial pose to a certain distance below the bottom of the hole, so that the impedance controller has a dynamic balance center.
The invention also provides a system for automatically generating the robot shaft hole assembly program based on single dragging teaching, which comprises: assembling a direction identification module; a power learning module; a compliant direction adjustment module, wherein:
the assembly direction identification module judges the assembly direction by means of energy information formed by force bit mixed information in the teaching process;
the assembly driving force learning module is determined according to the maximum friction force in the demonstration process and adapts to the assembly process through an automatic adjustment mechanism;
the compliance direction adjustment strategy is realized by an admittance controller, and the control parameters are automatically learned in a single dragging teaching.
The invention provides a system and a method for automatically generating a robot shaft hole assembly program based on single dragging teaching, which adopt the ideas of remote center compliance and dynamic balance center, and can learn the rigidity, quality and damping parameters of an admittance control algorithm for assembly through one dragging teaching. The invention can generate the robot assembly program through one-time demonstration, reduces the programming threshold of the robot, accelerates the assembly development speed of the robot, greatly reduces the cost, and is suitable for multi-product small-batch production.
The conception, specific structure, and technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, features, and effects of the present invention.
Drawings
FIG. 1 is a schematic diagram illustrating the assembly direction recognition of a preferred embodiment of the present invention;
FIG. 2 is a schematic diagram of the driving force in the assembly direction of a preferred embodiment of the present invention;
FIG. 3 is a schematic diagram of a compliant tuning strategy in accordance with a preferred embodiment of the present invention.
Detailed Description
The following description of the preferred embodiments of the present invention refers to the accompanying drawings, which make the technical contents thereof more clear and easy to understand. The present invention may be embodied in many different forms of embodiments and the scope of the present invention is not limited to only the embodiments described herein.
In the drawings, like structural elements are referred to by like reference numerals and components having similar structure or function are referred to by like reference numerals. The dimensions and thickness of each component shown in the drawings are arbitrarily shown, and the present invention is not limited to the dimensions and thickness of each component. The thickness of the components is exaggerated in some places in the drawings for clarity of illustration.
As shown in fig. 1, an assembly direction recognition schematic diagram of the present invention is shown. As is known from a great deal of engineering practice, when the robot clamps the shaft to insert into the hole, the robot will work positively against the friction between the shaft holes to keep the insertion, while in other directions the shaft will adjust compliance after receiving the force from the hole, in which directions the robot does or does not do work. Because the six-dimensional force sensor at the tail end of the robot measures the force of the environment on the robot, the process can be described from the angle of the hole, namely, along the inserting direction, the environment applies negative work to the shaft, and in the compliant direction, the environment applies positive work or no work to the shaft. According to the method, according to the force position information acquired in the teaching process, the movement direction of the tail end of the robot and the environment working condition can be calculated, and the movement condition is combined, so that the robot can be used for identifying the assembly direction and the compliance direction.
As shown in fig. 2, a schematic diagram of the assembly direction driving force of the present invention is shown. The general hardware-assisted mode or control-based mode can adopt the assembly speed or the assembly force with a given size in the assembly direction, but the assembly force between shaft holes of different individuals with the same model is different in practice due to the existence of machining errors and installation errors, so that the assembly speed can be reasonably adjusted automatically by the interaction force in the assembly process. The invention records the maximum friction force between shaft holes in the teaching assembly process. In a preferred embodiment of the present invention, to prevent impact disturbance, the magnitude of 95% split friction after the friction force of the whole assembly process is arranged in ascending order is actually used. An impedance controller is designed by taking the magnitude of the friction force as a reference of the assembly force. If the target coordinate system is set at the bottom of the hole, the force magnitude will also decay with decreasing distance due to the impedance control, which is insufficient to generate sufficient fitting force, for which the initial target coordinate system is set a distance below the hole opening. In a preferred embodiment of the present invention, a distance of 10 mm below the opening of the hole is used, which is self-adjusting according to the shaft hole assembly length, it is important to ensure that the product of the stiffness coefficient of the impedance control and the distance from the end of the shaft to the initial target coordinate system is equal to the maximum static friction force of the teaching process, and in order for the shaft to smoothly move to the bottom of the hole, the target coordinate system slowly moves from the initial pose to a distance below the bottom of the hole, thereby constructing an impedance controller with a dynamic balance center. If the shaft holes are assembled smoothly, the assembling force is smaller than that in the demonstration process, the shaft hole assembling speed is increased, and otherwise, the assembling speed is reduced. The design learns the assembly force from the maximum friction force in the teaching process, automatically determines the assembly speed according to the assembly condition, and has certain robustness.
As shown in FIG. 3, the present invention is a schematic diagram of a compliance adjustment strategy, the core of the shaft hole assembly operation is the compliance adjustment strategy, the adjustment strategy of the present invention is realized according to an admittance controller, and the parameters of the admittance controller are learned from the force-position mixed information of the teaching process. The parameters of the admittance controller include a mass parameter, a damping parameter and a stiffness parameter. The mass parameters can be directly calculated depending on the link inertia matrix, and the inertia of all additional devices is recorded into the inertia of the end link. The mass matrix is as follows
M＝J -T M(θ)J -1 (1)
Wherein M is a mass matrix, J is a Jacobian matrix, and M (θ) is a robot link inertia matrix. The damping matrix may be determined from the mass matrix and the stiffness matrix when forming the critical damping system, so that the core of the admittance controller parameter learning is actually the stiffness matrix. In order to realize the automatic learning of the stiffness matrix, the idea of flexible distal center is adopted. The far-end center compliance is a design idea adopted when designing the far-end center compliance of the hardware auxiliary equipment, and the design idea is utilized to realize a virtual far-end center compliance equipment by using a six-dimensional force sensor, so that the stiffness parameters are learned through a far-end center compliance design model.
The distal center compliance models each contact state in designing the stiffness parameters, and then the optimal stiffness parameters are determined by the allowable assembly forces and each contact model. In fact, the single contact state model and the allowed assembly force are already sufficient to determine the stiffness parameters by the least squares method, although not necessarily optimal, but feasible and sufficient to perform the assembly operation. Considering that the demonstration process of the assembly through dragging mainly comprises two-point contact states and the other contact states are very few, the stiffness parameter is determined by adopting a two-point contact state model and allowable assembly force. When the model is built, a plane model is built according to the plane where the two-point contact is located, and then the symmetry of the shaft hole is promoted to the space. The force model in the two-point contact state in the demonstration process is that
Wherein F is x Representing force along x-axis, k x Is the rigidity coefficient in the x direction, L g Is the distance from the center of the bottom of the shaft to the compliant center, θ 0 Is the initial angle error, l is the depth of shaft insertion, ε 0 Is an initial linearity error. c is the shaft hole gap ratio, which is defined as (D-D)/D, D is the diameter of the hole, and D is the diameter of the shaft. Moment model in two-point contact state in demonstration process is
Wherein T is y Is the moment along the y-axis, k θ Is the torsional stiffness coefficient about the y-axis. Parameter L g Is set as in the system
Where μ is the coefficient of friction between the shaft holes. According to the design concept of the far-end compliant center, the compliant center is arranged above the hole openingThe shaft can be kept in a point contact state during the assembly process, thereby ensuring that the assembly process is smoothly carried out. According to the signal pairs (F x L), k of formula (2) x Can be obtained by a least square method. Similarly, according to the signal pair (T y L) and k just acquired x K in formula (3) θ Or may be calculated. By means of symmetry of the shaft holes, parameters in other directions can also pass through k y ＝k x ,k rx ＝k ry ＝k θ And (5) calculating. The torsional stiffness coefficient along the z-axis of the compliant coordinate system is generally unimportant, and in order to suppress unwanted rotations caused by disturbances, we will apply the parameter k rz Also set to be equal to $k ry Equal. If the jaw clamping shaft is assumed to be reliable, the shaft and force can be transmittedThe sensor and the robot end link are regarded as a rigid body, and the rigidity parameter of the virtual distal center compliance compensator can be converted into a robot tool coordinate system through the coordinate system. The damping matrix may then be determined from the mass matrix and the stiffness matrix from the conditions that form the critical damping system.
Admittance control along the compliant direction and impedance control along the assembly direction are respectively performed under a compliant coordinate system and a dynamic balance coordinate system, and control amounts can be transferred to a tool system through accompanying transformation and then are combined and uniformly transmitted to a robot for control.
Wherein M is a combined mass matrix, w is data of a six-dimensional force sensor, B is a damping matrix, V is the space velocity of an end tool system, and K 1 、S 1 、θ 1 K is as follows 2 、S 2 、θ 2 A stiffness matrix in the compliant direction and in the assembly direction, respectively, a screw axis and a rotation angle around the screw axis. And (3) integrating the formula (5) to obtain the space velocity under the robot tool system and sending the space velocity to the robot controller.
The foregoing describes in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the invention without requiring creative effort by one of ordinary skill in the art. Therefore, all technical solutions which can be obtained by logic analysis, reasoning or limited experiments based on the prior art by the person skilled in the art according to the inventive concept shall be within the scope of protection defined by the claims.
Claims (8)
1. A method for automatically generating a robot shaft hole assembly program based on single drag teaching, the robot shaft hole assembly equipment comprises a six-axis robot, a six-dimensional force sensor arranged at the tail end of the six-axis robot and a clamping jaw arranged on the six-dimensional force sensor for executing assembly, and the method is characterized in that:
step 1, energy information formed by force bit mixed information in a teaching process is obtained; because the six-dimensional force sensor at the tail end of the robot measures the force of the environment on the six-axis robot, the six-axis robot is described from the angle of the hole, namely, along the inserting direction, the environment applies negative work to the shaft, and in the compliant direction, the environment applies positive work or no work to the shaft;
step 2, judging the assembly direction and the compliance direction according to the obtained energy information;
step 3, assembling driving force is learned according to the maximum friction force in the teaching process, and the assembling process is adapted through an automatic adjustment mechanism:
step 3.1, recording the maximum friction force between shaft holes in the teaching assembly process;
step 3.2, designing an impedance controller by taking the maximum friction force as a reference of the assembly force; based on the driving force, the assembly driving force in the assembly process is adjusted through an automatic adjustment mechanism;
in the impedance controller designed in the step 3.2, an initial target coordinate system is arranged below the opening of the hole by a certain distance, the distance is automatically adjusted according to the assembly length of the shaft hole, so that the product of the rigidity coefficient of impedance control and the distance from the tail end of the shaft to the initial target coordinate system is equal to the maximum friction force in the teaching process, and in order that the shaft can smoothly move to the bottom of the hole, the target coordinate system can slowly move from the initial pose to a certain distance below the bottom of the hole, so that the impedance controller has a dynamic balance center;
step 4, automatically acquiring control parameters in single dragging teaching, and realizing a compliance direction adjustment strategy by utilizing an admittance controller;
and 5, automatically generating a program for shaft hole assembly.
2. The method for automatically generating a robot shaft hole assembly program based on single drag teaching of claim 1, wherein in the step 4, the parameters of the admittance controller are learned from force-position mixing information of the teaching process, and the parameters of the admittance controller include a mass parameter, a damping parameter and a stiffness parameter.
3. The method for automatically generating a robot shaft hole assembly program based on single drag teaching according to claim 2, wherein in the step 4, the mass parameter of the admittance controller is directly calculated by a robot-dependent link inertia matrix:
M＝J -T M(θ)J -1
wherein M is a mass matrix, J is a Jacobian matrix, M (theta) is a robot connecting rod inertia matrix, inertia of the additional equipment is recorded into the inertia of the end connecting rod, the rigidity parameter of the admittance controller is learned through the design idea of far-end center compliance, and the damping matrix is determined by the mass matrix and the rigidity matrix when a critical damping system is formed.
4. The method for automatically generating a robot shaft hole assembly program based on single drag teaching according to claim 3, wherein the learning of the remote center compliance design model is realized by taking the six-dimensional force sensor as a virtual remote center compliance device.
5. The method for automatically generating a robot shaft hole assembly program based on single drag teaching of claim 4, wherein the specific process of learning the stiffness parameter of the admittance controller through the distal center compliance design model comprises: a plane model is built according to a plane where two points are contacted, and then the plane model is promoted to a space by shaft hole symmetry; the force model in the two-point contact state in the demonstration process is as follows:
wherein F is x Representing force along x-axis, k x Is the rigidity coefficient in the x direction, L g Is the distance from the center of the bottom of the shaft to the compliant center, θ 0 Is the initial angle error, l is the depth of shaft insertion, ε 0 Initial linearity error, c is the shaft hole gap ratio, defined as:d is the diameter of the hole, D is the diameter of the shaft, and the moment model in the two-point contact state in the demonstration process is as follows:
wherein T is y Is the moment along the y-axis, k θ Is the torsional stiffness coefficient around the y-axis, parameter L g The system is set as follows:
wherein μ is the coefficient of friction between the shaft holes; the rigidity parameter of the virtual far-end center flexible compensator is converted into a robot tool coordinate system through the coordinate system to form the condition of a critical damping system, and a damping matrix is determined according to the mass matrix and the rigidity matrix.
6. The method for automatically generating a robot shaft hole assembly program based on single drag teaching according to claim 5, wherein in the step 4, admittance control along the compliant direction and impedance control along the assembly direction are performed under a compliant coordinate system and a dynamic balance coordinate system, respectively, and then the control amount is transferred to a tool system through accompanying transformation, combined and then uniformly transmitted to the robot for control.
7. The method for automatically generating a robot shaft hole assembly program based on single drag teaching of claim 6, wherein the formula is defined by
Integrating to obtain the space velocity under the robot tool system and transmitting the space velocity to a robot controller; wherein M is a combination ofThe mass matrix, w is the data of the six-dimensional force sensor, B is the damping matrix, V is the space velocity of the end tool system, K 1 、S 1 、θ 1 K is as follows 2 、S 2 、θ 2 A stiffness matrix in the compliant direction and in the assembly direction, respectively, a screw axis and a rotation angle around the screw axis.
8. A system for automatically generating a robot shaft hole assembly program based on a single drag teaching, the system comprising: assembling a direction identification module; a driving force learning module; a compliant direction adjustment module, wherein:
the assembly direction identification module judges the assembly direction by means of energy information formed by force bit mixed information in the teaching process; because the six-dimensional force sensor at the tail end of the robot measures the force of the environment on the six-axis robot, the six-axis robot is described from the angle of the hole, namely, along the inserting direction, the environment applies negative work to the shaft, and in the compliant direction, the environment applies positive work or no work to the shaft;
the driving force learning module is determined according to the maximum friction force in the demonstration process and is adapted to the assembly process through an automatic adjustment mechanism: recording the maximum friction force between shaft holes in the teaching assembly process; designing an impedance controller by taking the maximum friction force as a reference of the assembly force; based on the driving force, the assembly driving force in the assembly process is adjusted through an automatic adjustment mechanism; in the impedance controller, an initial target coordinate system is arranged below an opening of a hole by a certain distance, the distance is automatically adjusted according to the assembly length of the shaft hole, so that the product of the rigidity coefficient of impedance control and the distance from the tail end of the shaft to the initial target coordinate system is equal to the maximum friction force in the teaching process, and in order that the shaft can smoothly move to the bottom of the hole, the target coordinate system slowly moves from an initial pose to a certain distance below the bottom of the hole, so that the impedance controller has a dynamic balance center;
the compliance direction adjustment strategy is realized by an admittance controller, and the control parameters are automatically learned in a single dragging teaching.
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