CN114800527A - Force application control method and system for tail end of mobile operation mechanical arm - Google Patents
Force application control method and system for tail end of mobile operation mechanical arm Download PDFInfo
- Publication number
- CN114800527A CN114800527A CN202210631340.9A CN202210631340A CN114800527A CN 114800527 A CN114800527 A CN 114800527A CN 202210631340 A CN202210631340 A CN 202210631340A CN 114800527 A CN114800527 A CN 114800527A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- motion
- expected
- mobile
- end effector
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
-
- 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
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of robot control, and provides a force application control method and a force application control system for the tail end of a mobile operation mechanical arm, wherein the total expected motion track of the mobile operation mechanical arm is decomposed into an expected motion track of a mobile chassis and an expected motion track of the mechanical arm, whether the expected motion is transferred to the mobile chassis for control is judged by comparing the expected motion with a preset working space in a motion track parameter library, and the interaction condition of the mobile chassis and the mechanical arm is considered; meanwhile, on the premise of finishing a first control target of the expected motion of the mechanical arm end effector, the position of the mechanical arm end effector is adjusted through Cartesian space control, and then the direction of the mechanical arm is controlled through zero space, so that the direction operability of the mechanical arm is improved, a second control target of the force application capability of the mechanical arm is finished, the force application capability of the tail end of the mechanical arm is improved, and the tracking precision of the tail end of the mechanical arm is improved.
Description
Technical Field
The invention belongs to the technical field of robot control, and particularly relates to a force application control method and system for the tail end of a mobile operation mechanical arm.
Background
The mobile mechanical arm has flexible maneuvering performance and good operation performance, and is currently applied to a plurality of application fields, including the aspects of home service, special disaster relief, logistics distribution and the like. The integration of the moving chassis of the moving mechanical arm and the six-freedom-degree mechanical arm can effectively improve the operation space of the moving mechanical arm and provide more freedom degrees for the moving mechanical arm.
The integration of such chassis with robotic arms also presents new difficulties. Firstly, models of a mobile chassis and a mechanical arm are different from an interaction environment, the chassis is usually in an unstructured environment with complex dynamics, and the mechanical arm is usually in a free contact environment; secondly, due to the combination of the chassis and the mechanical arm, the moving mechanical arm is actually a kinematic redundancy system, which causes the degree of freedom of the redundancy system to be more than that required for executing tasks, and increases the requirement for control.
The inventors found that current research largely considers the chassis as an additional mechanism of the robotic arm without considering the inherent differences in the dynamics and interaction environment between them; because the positioning accuracy of the mobile chassis is generally low, the method causes the tracking error of the tail end of the mechanical arm to be large; the research on improving the control precision is mostly carried out under the background of dynamic control, and the stability of the system is difficult to ensure by adopting a complex control strategy; in addition to trajectory planning, mobile robotic arms are often used to handle high-load tasks where the mobile robotic arm must exert a large force on its environment, while current research is only done in null space for robotic arm tip force control, without considering any optimization in cartesian space for better force capability/maneuverability.
Disclosure of Invention
In order to solve the above problems, the present invention provides a method and a system for controlling force application at the end of a mobile operation robot arm, which improve the force application capability at the end of the robot arm and improve the tracking accuracy of the end of the robot arm.
In a first aspect, the present invention provides a method for controlling a force applied to an end of a mobile work robot, including:
decomposing the total expected motion of the mobile operation mechanical arm into expected motion of the mobile chassis and expected motion of the mechanical arm;
acquiring the configuration of a mechanical arm, and acquiring a motion parameter and a working space corresponding to the configuration from a prestored motion parameter library;
if the expected motion of the mechanical arm exceeds the motion parameters or the working space, transferring the total expected motion to the mobile chassis to finish a first control target for controlling the expected motion of the end effector of the mechanical arm;
on the premise of finishing a first control target of the expected movement of the mechanical arm end effector, the position of the mechanical arm end effector is adjusted through Cartesian space control, then the direction of the mechanical arm is controlled through zero space, and a second control target of controlling the expected force application capability of the mechanical arm end effector is finished.
Further, decomposing the total expected movement of the mobile operation mechanical arm through a weighting matrix; the total desired motion to move a work robot is the moving robot system speed, including the robot joint speed and the moving chassis cartesian speed.
Further, the first control target of the desired motion of the end effector of the arm is a desired velocity of the end effector of the arm.
Further, the mobile chassis is activated when the desired working space or desired speed requirement exceeds the limits of the robotic arms.
Furthermore, when the mechanical arm is in the allowed speed range, the motion is not transmitted to the moving chassis, when the mechanical arm exceeds the speed limit, the expected motion track of the mechanical arm of the decomposing part is transmitted to the moving chassis, and the moving chassis independently bears the expected motion requirement.
Further, after obtaining the motion parameters and the working space corresponding to the configuration, the directional operability of the mechanical arm is enhanced in a Cartesian space and a null space; when the directional operability of the mechanical arm is enhanced, the distance between the mechanical arm and a singular point is maximized, and the mechanical arm generates the expected speed of the mechanical arm end effector by using the minimum joint speed;
the configuration of the mechanical arm is obtained after the directional operability is enhanced.
Further, when the minimum singular value is smaller than a set threshold value, the weighted pseudo-inverse method is converted into a damped least square method.
In a second aspect, the present invention further provides a system for controlling a force applied to an end of a mobile work robot, including:
a desirability decomposition module configured to: decomposing the total expected motion of the mobile operation mechanical arm into expected motion of the mobile chassis and expected motion of the mechanical arm;
a workspace determination module configured to: acquiring the configuration of a mechanical arm, and acquiring a motion parameter and a working space corresponding to the configuration from a prestored motion parameter library;
a first control target control module configured to: if the expected motion of the mechanical arm exceeds the motion parameters or the working space, transferring the total expected motion to the mobile chassis to finish a first control target for controlling the expected motion of the end effector of the mechanical arm;
a second control target control module configured to: on the premise of finishing a first control target of the expected movement of the mechanical arm end effector, the position of the mechanical arm end effector is adjusted through Cartesian space control, then the direction of the mechanical arm is controlled through zero space, and a second control target of controlling the expected force application capability of the mechanical arm end effector is finished.
In a third aspect, the present invention further provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method for controlling the force applied to the end of the mobile working robot described in the first aspect.
In a fourth aspect, the present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method for controlling the application of force to the tip of a mobile working robot described in the first aspect.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the total expected motion track of the mobile operation mechanical arm is decomposed into the expected motion track of the mobile chassis and the expected motion track of the mechanical arm, whether the expected motion is transferred to the mobile chassis for control is judged by comparing the expected motion with a preset working space in a motion track parameter library, and the interaction condition of the mobile chassis and the mechanical arm is considered; meanwhile, on the premise of finishing a first control target of the expected motion of the mechanical arm end effector, the position of the mechanical arm end effector is adjusted through Cartesian space control, and then the direction of the mechanical arm is controlled through zero space, so that the direction operability of the mechanical arm is improved, a second control target of the force application capability of the mechanical arm is finished, the force application capability of the tail end of the mechanical arm is improved, and the tracking precision of the tail end of the mechanical arm is improved.
2. In the invention, when the minimum singular value is smaller than the set threshold value, the weighted pseudo-inverse method is converted into a damped least square method so as to avoid the instability of a mobile mechanical arm system.
Drawings
The accompanying drawings, which form a part hereof, are included to provide a further understanding of the present embodiments, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the present embodiments and together with the description serve to explain the present embodiments without unduly limiting the present embodiments.
FIG. 1 is a flow chart of example 1 of the present invention.
The specific implementation mode is as follows:
the invention is further described with reference to the following figures and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
The noun explains:
a null space: it appears in the context of a linear mapping, i.e. a matrix, referring to the original image space, like zero, { { x | Ax ═ 0}, in mathematics, the zero space of one operator a is the set of all solutions v of the equation Av ═ 0; it is also calledPreparing a nucleus of A; definition of null space: given that a is an m x n matrix, the null space of a, also called the kernel, is a set of n-dimensional vectors defined by the following formula: ker (A) { x ∈ C n : ax ═ 0}, i.e., the set of all solutions x to the linear system of equations Ax ═ 0;
in mathematics, the null space of an operator a is the set of all solutions v of the equation Av ═ 0, also called the kernel of a, the kernel space; expressed in a set-up notation as null (a) { V ∈ V: av ═ 0 };
properties of the null space: if A is a matrix, its null space is the linear subspace of the spaces of all vectors; the dimension of this linear subspace is called the nulling of A; this can be calculated as the number of columns that do not contain a fulcrum in the row ladder form of matrix a; the rank-nulling theorem states that the rank of any matrix plus its nulling is equal to the number of columns of this matrix; the right singular vector of a, corresponding to zero singular values, forms the basis of the null space of a.
The Cartesian space is a general term for a rectangular coordinate system and an oblique coordinate system, and the Cartesian coordinate system is two axes which are intersected at an original point and are called by the rectangular coordinate system and the oblique coordinate system, so that a planar affine coordinate system is formed. If the measurement units on the two axes are equal, the affine coordinate system is called as a Cartesian coordinate system; two cartesian coordinate systems with mutually perpendicular axes are called cartesian rectangular coordinate systems, otherwise called cartesian oblique coordinate systems.
Configuration: once the degrees of freedom of the robotic arm are determined, the various joints must be properly arranged to achieve these degrees of freedom. For a series of kinematic links, the number of joints is equal to the number of degrees of freedom required. Most robotic arm designs have the last n-3 joints defining the pose of the end effector with their axes relative to the wrist origin, and the first 3 joints defining the location of the wrist origin. A robotic arm designed in this way can be considered to consist of a positioning structure and an orientation structure or wrist in series behind it. For example: cartesian mechanical arms, articulated mechanical arms, SCARA mechanical arms, and the like.
And (3) motion parameters: mainly refers to joint angle, joint speed, joint angular speed and the like of the mechanical arm.
Working space: the workspace is the area that the manipulator arm end-effector can reach, and if the inverse kinematics solution is required to exist, the specified target point must be within the workspace. The working space and the flexible working space are available.
Self-movement: for redundant robotic arms, there are countless configurations of robotic arms corresponding to the same tip position and pose. Therefore, when the end pose is determined, the phenomenon that the joints thereof are still moving is called "self-movement" of the robot arm.
Force application capacity: indicating the ability to apply a payload force to the environment.
Example 1:
as shown in fig. 1, the present invention provides a method for controlling a force applied to an end of a mobile work robot, comprising:
s1, decomposing the total expected movement of the mobile operation mechanical arm into expected movement of the mobile chassis and expected movement of the mechanical arm through a weighting matrix;
the total desired motion of the mobile work robot may be understood as the desired motion of the mobile robot arm system during the mobile work, and may include a desired speed, a desired trajectory, etc., and the mobile robot arm system may include a mobile chassis and a robot arm; in this embodiment, the total desired motion of the mobile work robot may be set to a desired mobile robot system speed, including robot joint speed and moving chassis cartesian speed.
S2, enhancing the directional operability of the mechanical arm in Cartesian space and null space;
in step S2, the null space is defined by considering the difference in joint torque of the robot arm.
S3, acquiring the configuration of the mechanical arm, and acquiring the motion parameters and the working space corresponding to the configuration from a prestored motion parameter library;
s4, analyzing the expected motion of the mechanical arm and the obtained motion parameters and working space, if the expected motion of the mechanical arm exceeds the motion parameters or the working space, transferring the total expected motion to the mobile chassis, and if the expected motion of the mechanical arm does not exceed the motion parameters or the working space, completing the control task by the mechanical arm independently; a first control objective to complete a desired motion of an end effector of a robotic arm;
the first control target may be understood as a desired velocity of the end effector of the arm; starting the mobile chassis when the desired working space or desired speed requirement exceeds the limits of the robotic arm; specifically, when the mechanical arm is in an allowable speed range, the motion is not transmitted to the moving chassis, when the mechanical arm exceeds a speed limit, an expected motion track of the mechanical arm of the decomposing part is transmitted to the moving chassis, and the moving chassis independently bears an expected motion requirement.
S5, on the premise of finishing the first control target of the expected movement of the mechanical arm end effector, the position of the mechanical arm end effector is adjusted through Cartesian space control, then the direction operability of the mechanical arm is improved through self-movement through zero space control, and the second control target of the force application capability of the mechanical arm is finished.
When the directional operability of the mechanical arm is enhanced, the distance between the mechanical arm and a singular point is maximized, and the mechanical arm generates the expected speed of the mechanical arm end effector by using the minimum joint speed; and when the minimum singular value is smaller than a set threshold value, converting the weighted pseudo-inverse method into a damped least square method.
In this embodiment, the speed of the mobile robot system may be:
wherein the content of the first and second substances,
moving the system speed of the mechanical arm, including the joint speed of the mechanical arm and the Cartesian speed of the moving chassis;
a desired end effector velocity, i.e., a first control objective; i is n×n An identity matrix of n x n;
a system sub-target, i.e. a second control target, is added with directional operability for improving the end force application capability in this embodiment; h (q) is a measure of operability; j. the design is a square q Is the Jacobian matrix of the system;
q is a weighting matrix.
The weighting matrix in the formula plays a crucial role in determining the required cartesian motion of the end effector for the joint motion splitting of the mobile robotic arm. For a mobile robot arm, the characteristics of mass, inertia, etc. of the mobile chassis and the robot arm are different, and their operating conditions are also different. In general, the positioning accuracy of the mobile chassis is inferior to that of the robot arm, and therefore, more commands for the joint motion of the robot arm that moves the robot arm are required.
To is directed at
The explanation of the weighting matrix Q in (2) and the specific weight decomposition process are as follows:
the weighting matrix Q is replaced by defining a new variable W in the following section x ＝Q -1 For better expression. J. the design is a square q Is expressed as a weighted pseudo-inverse of
Weighting matrix W x Can be defined as:
wherein gamma belongs to [0, 1] is a parameter for determining the motion weight between the mobile chassis and the mechanical arm; γ ═ 0 denotes that the motion of the entire end effector depends on the robot arm, γ ═ 1 denotes that the motion is achieved entirely by the moving chassis, and γ ∈ (0, 1) denotes that the motion of the end effector is achieved by both.
When the workspace or speed requirements of the task exceed the limits of the robotic arm, the mobile chassis should be activated. Assuming that the moving robot system is controlled at a velocity level, the constraint on the joint velocity is calculated locally, and the joint range (the limited range of the robot joint angle), velocity and acceleration range of the robot can be considered at the same time. The motion limits of the robotic arm joints may be expressed in the current configuration as:
wherein the content of the first and second substances,
and
the upper limit and the lower limit of the joint speed of the mechanical arm are respectively;
is the speed instruction of the mechanical arm joint. If the speed instruction of the mechanical arm joint
Beyond the speed limit defined in the above equation, which means that the motion requirements of the end effector cannot be met by just relying on the robot arm motion, γ should be increased to split more motion to the moving chassis.
The parameter γ can be adjusted to:
wherein e is the upper limit of the motion distribution without participation of the mobile base, which can be determined by the user through trial and error; η is determined by the following equation:
where i denotes the ith joint of the robot arm.
When the mechanical arm is in the allowed speed range, the motion cannot be transmitted to the mobile chassis when the gamma is 0; if the robotic arm is near its speed limit and the robotic arm cannot handle the task alone, γ will be set equal to the desired motion of the η decomposition section to the mobile chassis; finally, when the arm command exceeds its speed limit, γ will be set to 1, letting the mobile chassis alone assume the motion requirements.
In the present embodiment, in order to improve the operability of the mobile robot arm and avoid singularity, the operability measurement is improved to the maximum in the null space
Wherein q is m Representing a joint speed of the mechanical arm; j. the design is a square m Representing the jacobian matrix of the mechanical arm. H 1 The maximization of (c) may simultaneously maximize the robot arm's distance from the singular point and have the robot arm use the minimum joint velocity to generate the same end effector velocity.
The method aims at solving the problem that the prior method does not optimize the directional operability of the mobile mechanical arm, and does not exist in the null space. In the present embodiment, the pairs are in Cartesian space and null space
Directional operability (DM) was performed to enhance the force application capability of the mobile robotic arm.
Wherein the content of the first and second substances,
to normalize the scaling matrix of the joint torques,
represents the torque limit of the ith joint; u is the particular optimized orientation for a given end effector.
H 2 (q) for q m ， i Partial derivative ofCan be calculated as:
wherein q is m ， i Is the coordinates of the ith joint and the motion vector,
for optimization in Cartesian space, H 2 (q) for x i The partial derivative can be expressed as:
wherein x is i Is the ith component of the pose of the end effector,
to avoid instability of the robotic system, cartesian space and null space cannot be optimized simultaneously.
By enhancing the directional operability of the robot arm in a given direction, the robot arm is changed only to a configuration close to a singular point (non-singular point), thereby obtaining an optimum force exertion capability. If the mechanical arm is too close to a singular point, making the system unstable, then a damped least squares approach can be used to avoid this. And defining a criterion for judging whether the mechanical arm is close to singularity or not according to the minimum singular value of the Jacobian matrix. When the minimum singular value is smaller than a set threshold value, the weighted pseudo-inverse method is converted into a damped least square method so as to avoid the instability of the mobile mechanical arm system.
In steps S1 and S2, in view of the joint limitation of the robot arm in the track following, an attempt is made to complete the control task using only the robot arm as much as possible; a high-dimensional motion information module can be arranged on the mechanical arm, so that the position and the speed of each joint at each moment in the process of detecting the motion track in real time can be conveniently controlled; the method of enhancing the directional operability of the robot arm in the steps S2 and S4 may be the same.
The purpose of the embodiment is to improve the force application capability of the tail end of the mechanical arm and improve the tracking precision of the tail end of the mechanical arm as much as possible; firstly, decomposing the total expected motion of a mobile mechanical arm system into the motion of a mobile chassis and the motion of a mechanical arm by using a weighting matrix, then enhancing the directional operability of the mechanical arm in a Cartesian space and a null space, and considering the joint torque difference of the mechanical arm when defining the null space; in the aspect of track tracking, an operator needs to consider joint limitations of the mechanical arm, and tries to complete a control task by using the mechanical arm only as far as possible; if the expected track exceeds the working space of the mechanical arm, the total expected track is transferred to the mobile chassis, and on the premise of finishing a first control target of the expected motion of the end effector, an operator firstly adjusts the position of the end effector of the mechanical arm through Cartesian space control according to a second control target of force application control of the tail end of the mechanical arm, and then improves the directional operability of the mechanical arm by using self motion through null space control.
Example 2:
the embodiment provides a terminal application of force control system of mobile operation arm, includes:
a desirability decomposition module configured to: decomposing the total expected motion of the mobile operation mechanical arm into expected motion of a mobile chassis and expected motion of the mechanical arm;
a workspace determination module configured to: acquiring the configuration of a mechanical arm, and acquiring a motion parameter and a working space corresponding to the configuration from a prestored motion parameter library;
a first control target control module configured to: if the expected motion of the mechanical arm exceeds the motion parameters or the working space, transferring the total expected motion to the mobile chassis to finish a first control target for controlling the expected motion of the end effector of the mechanical arm;
a second control target control module configured to: on the premise of finishing a first control target of the expected movement of the mechanical arm end effector, the position of the mechanical arm end effector is adjusted through Cartesian space control, then the direction of the mechanical arm is controlled through zero space, and a second control target of controlling the expected force application capability of the mechanical arm end effector is finished.
The working method of the system is the same as the method for controlling the force application at the tail end of the mobile operation mechanical arm in the embodiment 1, and the description is omitted here.
Example 3:
this embodiment provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the method for controlling the force applied to the end of the mobile working robot arm according to embodiment 1.
Example 4:
the present embodiment provides a computer-readable storage medium on which a computer program is stored, which when executed by a processor, implements the steps in the moving work robot end forcing control method described in embodiment 1.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and those skilled in the art can make various modifications and variations. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present embodiment should be included in the protection scope of the present embodiment.
Claims (10)
1. A method for controlling force application at the tail end of a mobile operation mechanical arm is characterized by comprising the following steps:
decomposing the total expected motion of the mobile operation mechanical arm into expected motion of the mobile chassis and expected motion of the mechanical arm;
the method comprises the steps of obtaining the configuration of a mechanical arm, and obtaining a motion parameter and a working space corresponding to the configuration from a prestored motion parameter library;
if the expected motion of the mechanical arm exceeds the motion parameters or the working space, transferring the total expected motion to the mobile chassis to finish a first control target for controlling the expected motion of the end effector of the mechanical arm;
on the premise of finishing a first control target of the expected movement of the mechanical arm end effector, the position of the mechanical arm end effector is adjusted through Cartesian space control, then the direction of the mechanical arm is controlled through zero space, and a second control target of controlling the expected force application capability of the mechanical arm end effector is finished.
2. The method of controlling an end force application of a mobile work robot according to claim 1, wherein the total desired motion of the mobile work robot is decomposed by a weighting matrix; the total desired motion to move a work robot is the moving robot system speed, including the robot joint speed and the moving chassis cartesian speed.
3. The method of claim 1, wherein the first control objective of the desired motion of the end effector of the robot arm is a desired velocity of the end effector of the robot arm.
4. The method of claim 1 wherein the mobile chassis is activated when the desired working space or desired speed requirement exceeds the limits of the robot.
5. The method as claimed in claim 4, wherein when the arm is within the allowable speed range, the motion is not transmitted to the mobile chassis, and when the arm exceeds the speed limit, the expected motion track of the arm in the decomposition part is transmitted to the mobile chassis, and the mobile chassis alone meets the expected motion requirement.
6. The method for controlling the force application to the tail end of the mobile operation mechanical arm as claimed in claim 1, wherein after the motion parameters and the working space corresponding to the configuration are acquired, the directional operability of the mechanical arm is enhanced in a cartesian space and a null space; when the directional operability of the mechanical arm is enhanced, the distance between the mechanical arm and a singular point is maximized, and the mechanical arm generates the expected speed of the mechanical arm end effector by using the minimum joint speed;
the configuration of the mechanical arm is obtained after the directional operability is enhanced.
7. The method for controlling the force applied to the tail end of the mobile operation mechanical arm as claimed in claim 6, wherein when the minimum singular value is smaller than a set threshold value, the weighted pseudo-inverse method is converted into a damped least square method.
8. A mobile work robot end force application control system, comprising:
a desirability decomposition module configured to: decomposing the total expected motion of the mobile operation mechanical arm into expected motion of the mobile chassis and expected motion of the mechanical arm;
a workspace determination module configured to: acquiring the configuration of a mechanical arm, and acquiring a motion parameter and a working space corresponding to the configuration from a prestored motion parameter library;
a first control target control module configured to: if the expected motion of the mechanical arm exceeds the motion parameters or the working space, transferring the total expected motion to the mobile chassis to finish a first control target for controlling the expected motion of the end effector of the mechanical arm;
a second control target control module configured to: on the premise of finishing a first control target of the expected movement of the mechanical arm end effector, the position of the mechanical arm end effector is adjusted through Cartesian space control, then the direction of the mechanical arm is controlled through zero space, and a second control target of controlling the expected force application capability of the mechanical arm end effector is finished.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the program to perform the steps of the method for controlling an end force application of a mobile work robot according to any one of claims 1 to 7.
10. A computer-readable storage medium, having stored thereon a computer program which, when executed by a processor, implements the steps in the method for controlling application of force to the tip of a mobile work robot according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210631340.9A CN114800527A (en) | 2022-06-06 | 2022-06-06 | Force application control method and system for tail end of mobile operation mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210631340.9A CN114800527A (en) | 2022-06-06 | 2022-06-06 | Force application control method and system for tail end of mobile operation mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114800527A true CN114800527A (en) | 2022-07-29 |
Family
ID=82521299
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210631340.9A Pending CN114800527A (en) | 2022-06-06 | 2022-06-06 | Force application control method and system for tail end of mobile operation mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114800527A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116100561A (en) * | 2023-04-10 | 2023-05-12 | 国网浙江省电力有限公司宁波供电公司 | Automatic wiring track control method and system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140316431A1 (en) * | 1999-09-17 | 2014-10-23 | Intuitive Surgical Operations, Inc. | Systems and methods for using the null space to emphasize manipulator joint motion anisotropically |
| CN106695797A (en) * | 2017-02-22 | 2017-05-24 | 哈尔滨工业大学深圳研究生院 | Compliance control method and system based on collaborative operation of double-arm robot |
| CN109159151A (en) * | 2018-10-23 | 2019-01-08 | 北京无线电测量研究所 | A kind of mechanical arm space tracking tracking dynamic compensation method and system |
| CN111687834A (en) * | 2020-04-30 | 2020-09-22 | 广西科技大学 | Reverse priority impedance control system and method for redundant mechanical arm of mobile manipulator |
| CN114347035A (en) * | 2022-01-28 | 2022-04-15 | 山东大学 | Robot valve screwing method and system based on teaching learning and flexible control |
-
2022
- 2022-06-06 CN CN202210631340.9A patent/CN114800527A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140316431A1 (en) * | 1999-09-17 | 2014-10-23 | Intuitive Surgical Operations, Inc. | Systems and methods for using the null space to emphasize manipulator joint motion anisotropically |
| CN106695797A (en) * | 2017-02-22 | 2017-05-24 | 哈尔滨工业大学深圳研究生院 | Compliance control method and system based on collaborative operation of double-arm robot |
| CN109159151A (en) * | 2018-10-23 | 2019-01-08 | 北京无线电测量研究所 | A kind of mechanical arm space tracking tracking dynamic compensation method and system |
| CN111687834A (en) * | 2020-04-30 | 2020-09-22 | 广西科技大学 | Reverse priority impedance control system and method for redundant mechanical arm of mobile manipulator |
| CN114347035A (en) * | 2022-01-28 | 2022-04-15 | 山东大学 | Robot valve screwing method and system based on teaching learning and flexible control |
Non-Patent Citations (1)
| Title |
|---|
| XING, HONGJUN等: "Enhancement of Force Exertion Capability of a Mobile Manipulator by Kinematic Reconfiguration", 《IEEE ROBOTICS AND AUTOMATION LETTERS》, vol. 5, no. 4, pages 5842 - 5849, XP011801871, DOI: 10.1109/LRA.2020.3010218 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116100561A (en) * | 2023-04-10 | 2023-05-12 | 国网浙江省电力有限公司宁波供电公司 | Automatic wiring track control method and system |
| CN116100561B (en) * | 2023-04-10 | 2023-09-05 | 国网浙江省电力有限公司宁波供电公司 | Automatic wiring track control method and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11845186B2 (en) | Inverse kinematics solving method for redundant robot and redundant robot and computer readable storage medium using the same | |
| US6456901B1 (en) | Hybrid robot motion task level control system | |
| US8311731B2 (en) | Robots with collision avoidance functionality | |
| Ott et al. | Posture and balance control for biped robots based on contact force optimization | |
| JP5261495B2 (en) | Real-time self-collision and obstacle avoidance using weight matrix | |
| Gienger et al. | Task-oriented whole body motion for humanoid robots | |
| US8560123B2 (en) | Robot and method of controlling cooperative work thereof | |
| US8560122B2 (en) | Teaching and playback method based on control of redundancy resolution for robot and computer-readable medium controlling the same | |
| US8271137B2 (en) | Robot and method of controlling the same | |
| US20080312771A1 (en) | Robots with Occlusion Avoidance Functionality | |
| JP5156836B2 (en) | Real-time self-collision and obstacle avoidance | |
| EP3845346A1 (en) | Method, system and computer program product for controlling the teleoperation of a robotic arm | |
| CN114800527A (en) | Force application control method and system for tail end of mobile operation mechanical arm | |
| Walker et al. | Robot-human handovers based on trust | |
| Pin et al. | Motion planning for mobile manipulators with a non‐holonomic constraint using the FSP (full space parameterization) method | |
| Bourquardez et al. | Stability and performance of image based visual servo control using first order spherical image moments | |
| Gienger et al. | Exploiting task intervals for whole body robot control | |
| CN107414826B (en) | Tendon-driven manipulator tension constraint tail end operation control method | |
| Perng et al. | Inverse kinematic solutions for a fully parallel robot with singularity robustness | |
| CN112917479B (en) | Approximate pose calculation method and device of five-axis robot and storage medium | |
| CN113021345A (en) | Method, device and equipment for controlling inverse kinematics of mechanical arm and readable storage medium | |
| CN113084797B (en) | Dynamic cooperative control method for double-arm redundant mechanical arm based on task decomposition | |
| Shimizu et al. | A practical redundancy resolution for 7 DOF redundant manipulators with joint limits | |
| Muthusamy et al. | Investigation and design of robotic assistance control system for cooperative manipulation | |
| CN116852397B (en) | Self-adaptive adjusting method for physiotherapy force and physiotherapy path of negative pressure physiotherapy robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |