CN114888802B - Data processing method and device for parallel robot constant level control - Google Patents
Data processing method and device for parallel robot constant level control Download PDFInfo
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- CN114888802B CN114888802B CN202210531339.9A CN202210531339A CN114888802B CN 114888802 B CN114888802 B CN 114888802B CN 202210531339 A CN202210531339 A CN 202210531339A CN 114888802 B CN114888802 B CN 114888802B
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- B25J9/00—Programme-controlled manipulators
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- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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Abstract
The invention discloses a data processing method and a device for parallel robot constant level control, wherein the method comprises the following steps: acquiring foot end displacement information; solving the foot end displacement information by using a displacement solving model to obtain space displacement coordinate information; the space displacement coordinate information represents the motion trail condition of a first foot and the motion trail condition of a second foot of the parallel robot; the mechanical structure of the first foot is congruent with the mechanical structure of the second foot; solving the space displacement coordinate information by using a preset inverse kinematics model to obtain electric cylinder motion parameter information; the motion parameter information of the electric cylinder is used for indicating the parallel robot to perform constant level control. Therefore, the invention solves the problem of hysteresis of displacement change of each electric cylinder of the leg of the robot, and further solves the problem of constant level control of the bearing platform on the parallel mobile robot.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to a data processing method and device for parallel robot constant level control.
Background
The foot type robot can be divided into a serial type and a parallel type according to the leg structure, wherein the serial type structure is flexible and easy to control, but the rigidity is weaker, and the repeated operation precision is low; the parallel type structure has strong rigidity and high repeated operation precision, but is difficult to control, and the common kinematics control parallel mobile robot can have the problem that the displacement change of each electric cylinder of the leg is lagged, so that the upper bearing platform cannot move in a constant and flat manner. Therefore, the data processing method and the data processing device for the parallel robot constant level control are provided, so that the problem of hysteresis of displacement change of each electric cylinder of the leg of the robot is solved, and the problem of constant level control of a bearing platform on the parallel mobile robot is particularly important.
Disclosure of Invention
The invention aims to solve the technical problem of providing a data processing method and a data processing device for parallel robot constant level control, which can solve foot end displacement information by utilizing a displacement solving model, and solve spatial displacement coordinate information by utilizing an inverse kinematics model to obtain electric cylinder motion parameter information for indicating parallel robot constant level control, thereby being beneficial to solving the problem of hysteresis of displacement change of each electric cylinder of a robot leg and further solving the problem of constant level control of a bearing platform on a parallel mobile robot.
In order to solve the technical problem, a first aspect of the embodiment of the invention discloses a data processing method for parallel robot constant level control, which comprises the following steps:
acquiring foot end displacement information; the foot end displacement information comprises horizontal displacement information and vertical displacement information; the horizontal displacement information represents the displacement change condition in the X direction; the vertical displacement information represents the displacement change condition in the Z direction; the X direction and the Z direction are coordinate directions in a three-dimensional coordinate system; the displacement variation in the X direction is continuously variable; the displacement variation in the Z direction is rhythmic;
solving the foot end displacement information by using a displacement solving model to obtain space displacement coordinate information; the space displacement coordinate information represents the motion trail condition of a first foot and the motion trail condition of a second foot of the parallel robot; the mechanical structure of the first foot is congruent with the mechanical structure of the second foot;
solving the space displacement coordinate information by using a preset inverse kinematics model to obtain electric cylinder motion parameter information; and the motion parameter information of the electric cylinder is used for indicating the constant level control of the parallel robot.
In a first aspect of the embodiment of the present invention, the solving the foot end displacement information by using a preset displacement solving model to obtain spatial displacement coordinate information includes:
carrying out rhythmization processing on the foot end displacement information by using a preset rhythm model to obtain target rhythm displacement information; the target rhythm displacement information represents the motion trail of the X-direction rhythm variation and the motion trail of the Z-direction rhythm variation;
and solving the target rhythm displacement information by using a displacement solving model to obtain space displacement coordinate information.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the rhythm model includes a first rhythm model and a second rhythm model; the first rhythmic model is used for rhythmic processing of displacement change conditions of the parallel robot in the X direction in a leg lifting stage; the second rhythmic model is used for rhythmizing displacement change conditions of the parallel robot in the X direction in a leg falling stage;
the step of rhythmizing the foot end displacement information to obtain target rhythmic displacement information comprises the following steps:
Carrying out mapping relation association processing on the horizontal displacement information and the vertical displacement information to obtain foot end track symmetry relation information; the symmetrical relation of the foot end track represents the association relation between the displacement in the X direction and the displacement in the Z direction;
calculating the symmetrical relation information of the foot end track by using the first rhythm model to obtain first rhythm displacement information;
calculating the symmetrical relation information of the foot end track by using the second rhythm model to obtain second rhythm displacement information;
and carrying out association processing on the first rhythm displacement information, the second rhythm displacement information and the vertical displacement information to obtain target rhythm displacement information.
In a first aspect of the embodiment of the present invention, the solving the target rhythm displacement information by using a displacement solving model to obtain spatial displacement coordinate information includes:
performing discretization solving processing on the displacement solving model by using a preset discrete solving model to obtain solving signal information; the solving signal information is related to the frequency parameters of the displacement solving model;
and calculating the solving signal information by using the target rhythm displacement information to obtain space displacement coordinate information.
As an alternative implementation manner, in the first aspect of the embodiment of the present invention, the displacement solution model is obtained based on the following steps:
acquiring constraint condition information; the constraint condition information comprises at least 6 constraint parameter information;
constructing an adaptability function; the fitness function characterizes a motion waveform relationship of the first foot and the second foot;
and determining the displacement solving model according to the constraint condition information and the fitness function.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the determining the displacement solution model according to the constraint condition information and the fitness function includes:
updating a preset initial optimization model by using the constraint condition information to obtain a model to be optimized;
performing parameter optimization processing on the model to be optimized by using the fitness function to obtain alternative optimization model information;
judging whether the alternative optimization model information meets a preset optimization termination condition or not to obtain a first judgment result; the optimized termination conditions comprise a first termination condition and a second termination condition; the first termination condition is related to an error parameter of the parameter optimization process; the second termination condition is related to the iteration number of the parameter optimization process;
When the first judgment result is negative, updating the model to be optimized by using the alternative optimization model information, and triggering and executing the parameter optimization processing on the model to be optimized by using the fitness function to obtain the alternative optimization model information;
and when the first judgment result is yes, determining the displacement solving model according to the alternative optimizing model information.
In a first aspect of the embodiment of the present invention, the solving the spatial displacement coordinate information by using a preset inverse kinematics model to obtain electric cylinder motion parameter information includes:
sequentially inputting the space displacement coordinate information into a preset inverse kinematics model according to time sequence to carry out solving calculation to obtain motion track information;
acquiring parameter information of an electric cylinder of the parallel robot;
and performing inverse operation processing on the motion trail information by using the electric cylinder parameter information to obtain electric cylinder motion parameter information.
The second aspect of the embodiment of the invention discloses a data processing device for parallel robot constant level control, which comprises:
the acquisition module is used for acquiring foot end displacement information; the foot end displacement information comprises horizontal displacement information and vertical displacement information; the horizontal displacement information represents the displacement change condition in the X direction; the vertical displacement information represents the displacement change condition in the Z direction; the X direction and the Z direction are coordinate directions in a three-dimensional coordinate system; the displacement variation in the X direction is continuously variable; the displacement variation in the Z direction is rhythmic;
The first processing model is used for solving the foot end displacement information by utilizing a displacement solving model to obtain space displacement coordinate information; the space displacement coordinate information represents the motion trail condition of a first foot and the motion trail condition of a second foot of the parallel robot; the mechanical structure of the first foot is congruent with the mechanical structure of the second foot;
the second processing model is used for solving the space displacement coordinate information by utilizing a preset inverse kinematics model to obtain electric cylinder motion parameter information; and the motion parameter information of the electric cylinder is used for indicating the constant level control of the parallel robot.
As an optional implementation manner, in the second aspect of the embodiment of the present invention, the specific manner in which the first processing module uses a preset displacement solving model to solve the foot end displacement information to obtain spatial displacement coordinate information is:
carrying out rhythmization processing on the foot end displacement information by using a preset rhythm model to obtain target rhythm displacement information; the target rhythm displacement information represents the motion trail of the X-direction rhythm variation and the motion trail of the Z-direction rhythm variation;
And solving the target rhythm displacement information by using a displacement solving model to obtain space displacement coordinate information.
As one such alternative implementation, in a second aspect of the present embodiment, the rhythm model includes a first rhythm model and a second rhythm model; the first rhythmic model is used for rhythmic processing of displacement change conditions of the parallel robot in the X direction in a leg lifting stage; the second rhythmic model is used for rhythmizing displacement change conditions of the parallel robot in the X direction in a leg falling stage;
the first processing module performs rhythmization processing on the foot end displacement information, and the specific mode for obtaining target rhythmic displacement information is as follows:
carrying out mapping relation association processing on the horizontal displacement information and the vertical displacement information to obtain foot end track symmetry relation information; the symmetrical relation of the foot end track represents the association relation between the displacement in the X direction and the displacement in the Z direction;
calculating the symmetrical relation information of the foot end track by using the first rhythm model to obtain first rhythm displacement information;
calculating the symmetrical relation information of the foot end track by using the second rhythm model to obtain second rhythm displacement information;
And carrying out association processing on the first rhythm displacement information, the second rhythm displacement information and the vertical displacement information to obtain target rhythm displacement information.
In a second aspect of the embodiment of the present invention, the first processing module uses a displacement solving model to solve the target rhythm displacement information, so as to obtain spatial displacement coordinate information in the following specific manner:
performing discretization solving processing on the displacement solving model by using a preset discrete solving model to obtain solving signal information; the solving signal information is related to the frequency parameters of the displacement solving model;
and calculating the solving signal information by using the target rhythm displacement information to obtain space displacement coordinate information.
As one such alternative implementation manner, in the second aspect of the embodiment of the present invention, the displacement solution model is obtained by the determining module performing the following steps:
acquiring constraint condition information; the constraint condition information comprises at least 6 constraint parameter information;
constructing an adaptability function; the fitness function characterizes a motion waveform relationship of the first foot and the second foot;
And determining the displacement solving model according to the constraint condition information and the fitness function.
In a second aspect of this embodiment of the present invention, the determining module determines, according to the constraint condition information and the fitness function, a specific manner of the displacement solution model as follows:
updating a preset initial optimization model by using the constraint condition information to obtain a model to be optimized;
performing parameter optimization processing on the model to be optimized by using the fitness function to obtain alternative optimization model information;
judging whether the alternative optimization model information meets a preset optimization termination condition or not to obtain a first judgment result; the optimized termination conditions comprise a first termination condition and a second termination condition; the first termination condition is related to an error parameter of the parameter optimization process; the second termination condition is related to the iteration number of the parameter optimization process;
when the first judgment result is negative, updating the model to be optimized by using the alternative optimization model information, and triggering and executing the parameter optimization processing on the model to be optimized by using the fitness function to obtain the alternative optimization model information;
And when the first judgment result is yes, determining the displacement solving model according to the alternative optimizing model information.
As an optional implementation manner, in the second aspect of the embodiment of the present invention, the specific manner of obtaining the motion parameter information of the electric cylinder by using the preset inverse kinematics model to solve the spatial displacement coordinate information is:
sequentially inputting the space displacement coordinate information into a preset inverse kinematics model according to time sequence to carry out solving calculation to obtain motion track information;
acquiring parameter information of an electric cylinder of the parallel robot;
and performing inverse operation processing on the motion trail information by using the electric cylinder parameter information to obtain electric cylinder motion parameter information.
In a third aspect, the invention discloses another data processing device for parallel robot constant level control, the device comprising:
a memory storing executable program code;
a processor coupled to the memory;
the processor calls the executable program codes stored in the memory to execute part or all of the steps in the data processing method for parallel robot constant level control disclosed in the first aspect of the embodiment of the invention.
A fourth aspect of the present invention discloses a computer storage medium storing computer instructions for executing part or all of the steps in the data processing method for parallel robot constant level control disclosed in the first aspect of the present invention when the computer instructions are called.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
in the embodiment of the invention, foot end displacement information is acquired; the foot end displacement information comprises horizontal displacement information and vertical displacement information; the horizontal displacement information represents the displacement change condition in the X direction; the vertical displacement information represents the displacement change condition in the Z direction; the X direction and the Z direction are coordinate directions in a three-dimensional coordinate system; the displacement variation in the X direction is continuously variable; the displacement variation in the Z direction is rhythmic; solving the foot end displacement information by using a displacement solving model to obtain space displacement coordinate information; the space displacement coordinate information represents the motion trail condition of a first foot and the motion trail condition of a second foot of the parallel robot; the mechanical structure of the first foot is congruent with the mechanical structure of the second foot; solving the space displacement coordinate information by using a preset inverse kinematics model to obtain electric cylinder motion parameter information; the motion parameter information of the electric cylinder is used for indicating the parallel robot to perform constant level control. Therefore, the invention solves the problem of hysteresis of displacement change of each electric cylinder of the leg of the robot, and further solves the problem of constant level control of the bearing platform on the parallel mobile robot.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a data processing method for parallel robot constant level control disclosed in an embodiment of the invention;
FIG. 2 is a flow chart of another data processing method for parallel robot constant level control disclosed in an embodiment of the present invention;
FIG. 3 is a schematic diagram of a data processing device for parallel robot constant level control according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of another data processing device for parallel robot constant level control according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a data processing device for parallel robot constant level control according to another embodiment of the present invention.
Detailed Description
In order to make the present invention better understood by those skilled in the art, the following description will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present invention, 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 terms first, second and the like in the description and in the claims and in the above-described figures are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, apparatus, article, or device that comprises a list of steps or elements is not limited to the list of steps or elements but may, in the alternative, include other steps or elements not expressly listed or inherent to such process, method, article, or device.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the invention. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
The invention discloses a data processing method and a data processing device for parallel robot constant level control, which can obtain electric cylinder motion parameter information for indicating parallel robot constant level control by solving foot end displacement information by utilizing a displacement solving model and solving spatial displacement coordinate information by utilizing an inverse kinematics model, and are beneficial to solving the problem of hysteresis of displacement change of each electric cylinder of a robot leg, thereby solving the problem of constant level control of a bearing platform on a parallel mobile robot. The following will describe in detail.
Example 1
Referring to fig. 1, fig. 1 is a flow chart of a data processing method for parallel robot constant level control according to an embodiment of the present invention. The data processing method for parallel robot constant level control described in fig. 1 is applied to a warehouse management system, such as a local server or a cloud server for data processing management of parallel robot constant level control for warehouse logistics, which is not limited in the embodiment of the present invention. As shown in fig. 1, the data processing method for parallel robot constant level control may include the following operations:
101. and acquiring foot end displacement information.
In the embodiment of the invention, the foot end displacement information comprises horizontal displacement information and vertical displacement information.
In the embodiment of the invention, the horizontal displacement information represents the displacement change condition in the X direction.
In the embodiment of the invention, the vertical displacement information represents the displacement change condition in the Z direction.
In the embodiment of the present invention, the X direction and the Z direction are coordinate directions in a three-dimensional coordinate system.
In the embodiment of the present invention, the displacement variation in the X direction is continuously varied.
In the embodiment of the present invention, the displacement variation in the Z direction is a rhythmic variation.
102. And solving the foot end displacement information by using a displacement solving model to obtain space displacement coordinate information.
In the embodiment of the invention, the spatial displacement coordinate information represents the motion trail condition of the first foot and the motion trail condition of the second foot of the parallel robot.
In the embodiment of the present invention, the mechanical structure of the first foot is congruent with the mechanical structure of the second foot.
103. And solving the space displacement coordinate information by using a preset inverse kinematics model to obtain the motion parameter information of the electric cylinder.
In the embodiment of the invention, the motion parameter information of the electric cylinder is used for indicating the constant level control of the parallel robot.
Therefore, the data processing method for parallel robot constant level control, which is described by the embodiment of the invention, can be used for solving the foot end displacement information by utilizing a displacement solving model, and solving the space displacement coordinate information by utilizing an inverse kinematics model to obtain the electric cylinder motion parameter information for indicating parallel robot constant level control, thereby being beneficial to solving the problem of hysteresis of displacement change of each electric cylinder of the leg of the robot and further solving the problem of constant level control of a bearing platform on the parallel mobile robot.
In an optional embodiment, in the step 102, the solving the foot end displacement information by using a preset displacement solving model to obtain spatial displacement coordinate information includes:
carrying out rhythmization processing on foot end displacement information by using a preset rhythm model to obtain target rhythm displacement information; the target rhythm displacement information represents a motion track of the rhythm variation in the X direction and a motion track of the rhythm variation in the Z direction;
and solving the target rhythm displacement information by using a displacement solving model to obtain space displacement coordinate information.
Optionally, the spatial displacement coordinate information includes parallel robot foot motion coordinates.
Optionally, the parallel robot foot motion coordinates include an X-direction foot motion coordinate and a Z-direction foot motion coordinate.
Therefore, the data processing method for parallel robot constant level control described by the embodiment of the invention can utilize the preset displacement solving model to solve the foot end displacement information to obtain the space displacement coordinate information, thereby being beneficial to solving the problem of hysteresis of the displacement change of each electric cylinder of the robot leg and further solving the problem of constant level control of the bearing platform on the parallel mobile robot.
In another alternative embodiment, the above-described rhythm model includes a first rhythm model and a second rhythm model; the first rhythmic model is used for rhythming displacement change conditions of the parallel robot in the X direction in the leg lifting stage; the second rhythmic model is used for rhythmizing displacement change conditions of the parallel robot in the X direction in the leg falling stage;
rhythmizing is carried out on foot end displacement information to obtain target rhythmic displacement information, which comprises the following steps:
carrying out mapping relation association processing on the horizontal displacement information and the vertical displacement information to obtain symmetrical relation information of foot end tracks; the symmetrical relation of the foot end track represents the association relation between the displacement in the X direction and the displacement in the Z direction;
calculating the symmetrical relation information of the foot end track by using the first rhythm model to obtain first rhythm displacement information;
calculating the symmetrical relation information of the foot end track by using a second rhythm model to obtain second rhythm displacement information;
and carrying out association processing on the first rhythm displacement information, the second rhythm displacement information and the vertical displacement information to obtain target rhythm displacement information.
Optionally, the leg lifting stage is the motion of the parallel robot in a period of 0-T/2.
Optionally, the leg falling stage is the motion of the parallel robot in a period of between T/2 and T/cycle.
Optionally, the above T is a gait cycle of the parallel robot.
Alternatively, the T is obtained by a periodic model.
Optionally, the specific form of the periodic model is:
wherein beta is a loading factor, omega up Phase frequency for parallel robot foot lift.
Optionally, the motion track of rhythmic change in the X direction is obtained by carrying out rhythmic processing on the horizontal displacement information, so that the motion track is directly subjected to a displacement solving model.
Optionally, the load factor β determines a time ratio of the rising phase and the falling phase of the output signal, thereby affecting a time ratio of the lifting phase and the dropping phase of the robot foot.
Optionally, the specific form of the first rhythm model is:
x 1 ＝z 1 -1 ；
optionally, the specific form of the second rhythm model is:
x 3 ＝S-z 2 -1 ；
optionally, the above S is a step length, x 1 Is the displacement in X direction of rhythmic leg lifting stage; x is x 2 Displacement in the X direction in the rhythmic leg falling stage; z 1 Is the displacement in the Z direction in the leg lifting stage; z 2 Is the displacement in the Z direction in the leg falling stage.
Optionally, the target rhythm displacement information obtained by performing the correlation processing on the first rhythm displacement information, the second rhythm displacement information and the vertical displacement information may integrate data of the rhythmized X-direction displacement information and the Z-direction displacement information, so as to solve the foot-end track of the parallel robot.
Therefore, the data processing method for parallel robot constant level control described by the embodiment of the invention can perform rhythmization processing on foot end displacement information to obtain target rhythmic displacement information, is beneficial to solving the problem of hysteresis of displacement change of each electric cylinder of the robot leg, and further solves the problem of constant level control of a bearing platform on a parallel mobile robot.
In yet another optional embodiment, the solving the target rhythm displacement information by using the displacement solving model to obtain spatial displacement coordinate information includes:
performing discretization solving processing on the displacement solving model by using a preset discrete solving model to obtain solving signal information; solving the frequency parameter correlation of the signal information and the displacement solving model;
and calculating and processing the solving signal information by utilizing the target rhythm displacement information to obtain the space displacement coordinate information.
Optionally, the specific form of the discrete solving model is:
wherein y is n+1 Is the next value of the model output value, which is represented by the current model output value y n Adding the product of the time interval h and an estimated slope; k (k) 1 Is the slope at the beginning of the time period; k (k) 2 Is the slope of the midpoint of the time period, and the slope k is adopted by Euler method 1 To determine y n Is a value of (2); k (k) 3 Is also the slope of the midpoint, but this time using slope k 2 Determining y n A value; k (k) 4 Is the slope of the end of the time period, y n Value k 3 Determining; f (·) is the slope calculation function.
Optionally, the solving signal information includes a first displacement signal and a second displacement signal.
Optionally, the specific forms of the first displacement signal and the second displacement signal are:
wherein x is a signal value corresponding to the first displacement signal; y is a signal value corresponding to the second displacement signal; alpha is a speed control coefficient; μ is an amplitude coefficient, which is equal to the square of the amplitude; omega is the frequency of the oscillation model; a is a positive constant; r is the radius of the limit ring; t is a time variable.
Optionally, the speed control coefficient α is used to control the speed of the oscillation model signal converging on the limit cycle, the greater α is, the faster the speed of the limit cycle is received, and the smaller α is, the slower the speed of the limit cycle is received.
Optionally, μ is used to control the magnitude of the amplitude of the signal.
Optionally, the motion coordinates of the feet of the parallel robot are obtained through the following space model:
X 11 ＝x 11 ；
wherein x is 11 、x 21 、y 11 And y 21 Outputting signals for mapping correlation of target rhythm displacement information and solving signal information; The oscillation phase of the model waveform; x is X 11 Coordinate values of foot motion in the X direction; z is Z 11 The coordinate value of the foot motion in the Z direction; r is a moment of inertia matrix, ">θ cd Representing the relative phase between the c and d oscillators, θ cd ＝2π(φ c -φ d )，φ c Is the phase of the c-th oscillator, phi d For the phase of the d-th oscillator, c=1, 2, d=1, 2.
Therefore, the data processing method for parallel robot constant level control described by the embodiment of the invention can utilize the displacement solving model to solve the target rhythm displacement information to obtain the space displacement coordinate information, is more beneficial to solving the problem of hysteresis of displacement change of each electric cylinder of the robot leg, and further solves the problem of constant level control of the bearing platform on the parallel mobile robot.
In yet another alternative embodiment, the displacement solution model is based on the following steps:
acquiring constraint condition information; the constraint condition information comprises at least 6 constraint parameter information;
constructing an adaptability function; the fitness function characterizes the motion waveform relationship of the first foot and the second foot;
and determining a displacement solving model according to the constraint condition information and the fitness function.
Optionally, the constraint parameter information includes frequency information of the oscillation model, first amplitude information of the control signal, second amplitude information of the control signal, leg lifting height information, advancing speed information and movement step frequency information.
Optionally, the fitness function is constructed with a variance of the output displacement of the first foot and the output displacement of the second foot, so that the parallel robot can more easily reach a stable running state.
Optionally, the range of the motion step frequency corresponding to the motion step frequency information is [ pi/2, 2 pi/3 ].
Optionally, the range of the lifting height corresponding to the lifting height information is 80mm,120 mm.
Alternatively, the forward speed information may correspond to a forward speed in a range of [0.5m/s,1m/s ].
Therefore, the data processing method for parallel robot constant level control described by the embodiment of the invention can obtain a displacement solving model through processing constraint parameter information and fitness function, is more beneficial to solving the problem of hysteresis of displacement change of each electric cylinder of the robot leg, and further solves the problem of constant level control of a bearing platform on a parallel mobile robot.
In yet another alternative embodiment, determining the displacement solution model according to constraint information and fitness function includes:
updating a preset initial optimization model by using constraint condition information to obtain a model to be optimized;
carrying out parameter optimization processing on the model to be optimized by utilizing the fitness function to obtain alternative optimization model information;
Judging whether the information of the alternative optimization model meets a preset optimization termination condition or not to obtain a first judgment result; optimizing the termination conditions including a first termination condition and a second termination condition; the first termination condition is related to an error parameter of the parameter optimization process; the second termination condition is related to the iteration times of the parameter optimization process;
when the first judgment result is negative, updating the model to be optimized by using the information of the alternative optimization model, and triggering and executing the parameter optimization processing of the model to be optimized by using the fitness function to obtain the information of the alternative optimization model;
and when the first judgment result is yes, determining a displacement solving model according to the alternative optimizing model information.
Optionally, the first termination condition is that an error of the parameter optimization process is less than or equal to an error threshold.
Optionally, the second termination condition is that the iteration number of the parameter optimization process is equal to an iteration threshold.
Preferably, the iteration threshold is 50, so as to meet the parameter requirement of the displacement solving model and shorten the data processing time.
Optionally, updating the initial optimization model includes randomly generating model parameters conforming to constraint condition information under constraint of the constraint condition information to obtain a model to be optimized, so that model optimization efficiency is improved.
Therefore, the data processing method for parallel robot constant level control, which is described by the embodiment of the invention, can determine the displacement solving model according to constraint condition information and the fitness function, is more beneficial to solving the problem of hysteresis of the displacement change of each electric cylinder of the robot leg, and further solves the problem of constant level control of the bearing platform on the parallel mobile robot.
Example two
Referring to fig. 2, fig. 2 is a flow chart of another data processing method for parallel robot constant level control according to an embodiment of the present invention. The data processing method for parallel robot constant level control described in fig. 2 is applied to a warehouse management system, such as a local server or a cloud server for data processing management of parallel robot constant level control for warehouse logistics, which is not limited in the embodiment of the present invention. As shown in fig. 2, the data processing method for parallel robot constant level control may include the following operations:
201. and acquiring foot end displacement information.
202. And solving the foot end displacement information by using a displacement solving model to obtain space displacement coordinate information.
203. And sequentially inputting the space displacement coordinate information into a preset inverse kinematics model according to time sequence, and solving and calculating to obtain motion track information.
204. And acquiring parameter information of an electric cylinder of the parallel robot.
205. And performing inverse operation processing on the motion trail information by using the electric cylinder parameter information to obtain the electric cylinder motion parameter information.
In the embodiment of the present invention, for specific technical details and technical term explanations of the steps 201 to 202, reference may be made to the detailed descriptions of the steps 101 to 102 in the first embodiment, and the detailed descriptions of the embodiment of the present invention are omitted.
Optionally, the motion trail information includes foot motion trail corresponding to the plurality of electric cylinders.
Optionally, the specific form of the inverse kinematics model is:
l i ＝[ A P TA P+ B b i TB b i + A a i TA a i -2 A P TA a i +2 A P T [ A R B B b i ]-2[ A R B B b i ] TA a i ] 12 ；
wherein, the liquid crystal display device comprises a liquid crystal display device, A p is the position vector of the point p on the fixed platform coordinate system { A }; B b i is a connection point vector on a mobile platform coordinate system { B }; A a i is a connection point vector on a mobile platform coordinate system { A }; A R B to describe the pose of the coordinate system { B } relative to { A }; l (L) i Is the foot end movement track corresponding to the electric cylinder.
Optionally, the motion parameter information of the electric cylinder is used for indicating the control of the power system on the electric cylinder so as to realize the motion of the parallel mobile robot in a constant horizontal state of the bearing platform in the motion process.
Therefore, the data processing method for parallel robot constant level control, which is described by the embodiment of the invention, can be used for solving the foot end displacement information by utilizing a displacement solving model, and solving the space displacement coordinate information by utilizing an inverse kinematics model to obtain the electric cylinder motion parameter information for indicating parallel robot constant level control, thereby being beneficial to solving the problem of hysteresis of displacement change of each electric cylinder of the leg of the robot and further solving the problem of constant level control of a bearing platform on the parallel mobile robot.
Example III
Referring to fig. 3, fig. 3 is a schematic structural diagram of a data processing device for parallel robot constant level control according to an embodiment of the present invention. The device described in fig. 3 can be applied to a warehouse management system, such as a local server or a cloud server for data processing management of parallel robot constant level control for warehouse logistics, and the embodiment of the invention is not limited. As shown in fig. 3, the apparatus may include:
the acquiring module 301 is configured to acquire foot end displacement information; the foot end displacement information comprises horizontal displacement information and vertical displacement information; the horizontal displacement information represents the displacement change condition in the X direction; the vertical displacement information represents the displacement change condition in the Z direction; the X direction and the Z direction are coordinate directions in a three-dimensional coordinate system; the displacement variation in the X direction is continuously variable; the displacement variation in the Z direction is rhythmic;
the first processing model 302 is configured to solve the foot end displacement information by using a displacement solving model to obtain spatial displacement coordinate information; the space displacement coordinate information represents the motion trail condition of a first foot and the motion trail condition of a second foot of the parallel robot; the mechanical structure of the first foot is congruent with the mechanical structure of the second foot;
The second processing model 303 is configured to solve the spatial displacement coordinate information by using a preset inverse kinematics model, so as to obtain motion parameter information of the electric cylinder; the motion parameter information of the electric cylinder is used for indicating the parallel robot to perform constant level control.
Therefore, the data processing device for parallel robot constant level control described in fig. 3 can be implemented to solve the problem of hysteresis of displacement change of each electric cylinder of the robot leg, and further solve the problem of constant level control of the bearing platform on the parallel mobile robot by solving the foot end displacement information by using the displacement solving model and solving the space displacement coordinate information by using the inverse kinematics model to obtain the electric cylinder motion parameter information for indicating the parallel robot constant level control.
In another alternative embodiment, as shown in fig. 4, the first processing module 302 uses a preset displacement solving model to solve the foot end displacement information, so as to obtain the specific manner of obtaining the spatial displacement coordinate information:
carrying out rhythmization processing on foot end displacement information by using a preset rhythm model to obtain target rhythm displacement information; the target rhythm displacement information represents a motion track of the rhythm variation in the X direction and a motion track of the rhythm variation in the Z direction;
And solving the target rhythm displacement information by using a displacement solving model to obtain space displacement coordinate information.
Therefore, the data processing device for parallel robot constant level control described in fig. 4 can solve the displacement information of the foot end by using the preset displacement solving model to obtain the spatial displacement coordinate information, which is favorable for solving the problem of hysteresis of the displacement change of each electric cylinder of the robot leg, and further solves the problem of constant level control of the bearing platform on the parallel mobile robot.
In yet another alternative embodiment, as shown in FIG. 4, the rhythm model includes a first rhythm model and a second rhythm model; the first rhythmic model is used for rhythming displacement change conditions of the parallel robot in the X direction in the leg lifting stage; the second rhythmic model is used for rhythmizing displacement change conditions of the parallel robot in the X direction in the leg falling stage;
the first processing module 302 performs rhythmization processing on the foot end displacement information, and the specific manner of obtaining the target rhythmic displacement information is as follows:
carrying out mapping relation association processing on the horizontal displacement information and the vertical displacement information to obtain symmetrical relation information of foot end tracks; the symmetrical relation of the foot end track represents the association relation between the displacement in the X direction and the displacement in the Z direction;
Calculating the symmetrical relation information of the foot end track by using the first rhythm model to obtain first rhythm displacement information;
calculating the symmetrical relation information of the foot end track by using a second rhythm model to obtain second rhythm displacement information;
and carrying out association processing on the first rhythm displacement information, the second rhythm displacement information and the vertical displacement information to obtain target rhythm displacement information.
Therefore, the data processing device for parallel robot constant level control described in fig. 4 can perform rhythmization processing on foot end displacement information to obtain target rhythmic displacement information, which is beneficial to solving the problem of hysteresis of displacement change of each electric cylinder of the robot leg, and further solves the problem of constant level control of the bearing platform on the parallel mobile robot.
In yet another alternative embodiment, as shown in fig. 4, the first processing module 302 uses a displacement solution model to perform a solution process on the target rhythm displacement information, and the specific manner of obtaining the spatial displacement coordinate information is as follows:
performing discretization solving processing on the displacement solving model by using a preset discrete solving model to obtain solving signal information; solving the frequency parameter correlation of the signal information and the displacement solving model;
And calculating and processing the solving signal information by utilizing the target rhythm displacement information to obtain the space displacement coordinate information.
Therefore, the data processing device for parallel robot constant level control described in fig. 4 can solve the target rhythm displacement information by using the displacement solving model to obtain the space displacement coordinate information, which is more beneficial to solving the problem of hysteresis of displacement change of each electric cylinder of the robot leg, and further solves the problem of constant level control of the bearing platform on the parallel mobile robot.
In yet another alternative embodiment, as shown in FIG. 4, the displacement solution model is obtained by the determination module 304 performing the following steps:
acquiring constraint condition information; the constraint condition information comprises at least 6 constraint parameter information;
constructing an adaptability function; the fitness function characterizes the motion waveform relationship of the first foot and the second foot;
and determining a displacement solving model according to the constraint condition information and the fitness function.
Therefore, the data processing device for parallel robot constant level control described in fig. 4 can obtain a displacement solving model through processing constraint parameter information and fitness function, which is more beneficial to solving the problem of hysteresis of displacement change of each electric cylinder of the robot leg, and further solves the problem of constant level control of the bearing platform on the parallel mobile robot.
In yet another alternative embodiment, as shown in fig. 4, the determining module 304 determines, according to constraint information and fitness function, a specific manner of determining the displacement solving model is:
updating a preset initial optimization model by using constraint condition information to obtain a model to be optimized;
carrying out parameter optimization processing on the model to be optimized by utilizing the fitness function to obtain alternative optimization model information;
judging whether the information of the alternative optimization model meets a preset optimization termination condition or not to obtain a first judgment result; optimizing the termination conditions including a first termination condition and a second termination condition; the first termination condition is related to an error parameter of the parameter optimization process; the second termination condition is related to the iteration times of the parameter optimization process;
when the first judgment result is negative, updating the model to be optimized by using the information of the alternative optimization model, and triggering and executing the parameter optimization processing of the model to be optimized by using the fitness function to obtain the information of the alternative optimization model;
and when the first judgment result is yes, determining a displacement solving model according to the alternative optimizing model information.
Therefore, the data processing device for parallel robot constant level control described in fig. 4 is implemented, the displacement solving model can be determined according to constraint condition information and fitness function, and the problem of hysteresis of displacement change of each electric cylinder of the robot leg is solved, so that the problem of constant level control of the bearing platform on the parallel mobile robot is solved.
In yet another alternative embodiment, as shown in fig. 4, the second processing module 303 performs a solving process on the spatial displacement coordinate information by using a preset inverse kinematics model, and a specific manner of obtaining the motion parameter information of the electric cylinder is as follows:
sequentially inputting the space displacement coordinate information into a preset inverse kinematics model according to time sequence to carry out solving calculation to obtain motion track information;
acquiring parameter information of an electric cylinder of the parallel robot;
and performing inverse operation processing on the motion trail information by using the electric cylinder parameter information to obtain the electric cylinder motion parameter information.
Therefore, the data processing device for parallel robot constant level control described in fig. 4 can be implemented to solve the problem of hysteresis of displacement change of each electric cylinder of the robot leg, and further solve the problem of constant level control of the bearing platform on the parallel mobile robot by solving the foot end displacement information by using the displacement solving model and solving the space displacement coordinate information by using the inverse kinematics model to obtain the electric cylinder motion parameter information for indicating the parallel robot constant level control.
Example IV
Referring to fig. 5, fig. 5 is a schematic structural diagram of a data processing device for parallel robot constant level control according to another embodiment of the present invention. The device described in fig. 5 can be applied to a warehouse management system, such as a local server or a cloud server for data processing management of parallel robot constant level control for warehouse logistics, and the embodiment of the invention is not limited. As shown in fig. 5, the apparatus may include:
A memory 401 storing executable program codes;
a processor 402 coupled with the memory 401;
the processor 402 invokes executable program codes stored in the memory 401 for performing the steps in the data processing method for parallel robot constant level control described in the first or second embodiment.
Example five
The embodiment of the invention discloses a computer-readable storage medium storing a computer program for electronic data exchange, wherein the computer program causes a computer to execute the steps in the data processing method for parallel robot constant level control described in the first or second embodiment.
Example six
The embodiment of the invention discloses a computer program product, which comprises a non-transitory computer readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute the steps in the data processing method for parallel robot constant level control described in the embodiment one or the embodiment two.
The apparatus embodiments described above are merely illustrative, in which the modules illustrated as separate components may or may not be physically separate, and the components shown as modules may or may not be physical, i.e., may be located in one place, or may be distributed over multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above detailed description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course by means of hardware. Based on such understanding, the foregoing technical solutions may be embodied essentially or in part in the form of a software product that may be stored in a computer-readable storage medium including Read-Only Memory (ROM), random-access Memory (Random Access Memory, RAM), programmable Read-Only Memory (Programmable Read-Only Memory, PROM), erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), one-time programmable Read-Only Memory (OTPROM), electrically erasable programmable Read-Only Memory (EEPROM), compact disc Read-Only Memory (Compact Disc Read-Only Memory, CD-ROM) or other optical disc Memory, magnetic disc Memory, tape Memory, or any other medium that can be used for computer-readable carrying or storing data.
Finally, it should be noted that: the embodiment of the invention discloses a data processing method and a device for parallel robot constant level control, which are disclosed by the embodiment of the invention only as a preferred embodiment of the invention, and are only used for illustrating the technical scheme of the invention, but not limiting the technical scheme; although the invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that; the technical scheme recorded in the various embodiments can be modified or part of technical features in the technical scheme can be replaced equivalently; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (8)
1. A data processing method for parallel robot constant level control, the method comprising:
acquiring foot end displacement information; the foot end displacement information comprises horizontal displacement information and vertical displacement information; the horizontal displacement information represents the displacement change condition in the X direction; the vertical displacement information represents the displacement change condition in the Z direction; the X direction and the Z direction are coordinate directions in a three-dimensional coordinate system; the displacement variation in the X direction is continuously variable; the displacement variation in the Z direction is rhythmic;
Solving the foot end displacement information by using a displacement solving model to obtain space displacement coordinate information; the space displacement coordinate information represents the motion trail condition of a first foot and the motion trail condition of a second foot of the parallel robot; the mechanical structure of the first foot is congruent with the mechanical structure of the second foot;
the method for solving the displacement information of the foot end by using a preset displacement solving model to obtain spatial displacement coordinate information comprises the following steps:
carrying out rhythmization processing on the foot end displacement information by using a preset rhythm model to obtain target rhythm displacement information; the target rhythm displacement information represents the motion trail of the X-direction rhythm variation and the motion trail of the Z-direction rhythm variation;
solving the target rhythm displacement information by using a displacement solving model to obtain space displacement coordinate information;
wherein the rhythm model comprises a first rhythm model and a second rhythm model; the first rhythmic model is used for rhythmic processing of displacement change conditions of the parallel robot in the X direction in a leg lifting stage; the second rhythmic model is used for rhythmizing displacement change conditions of the parallel robot in the X direction in a leg falling stage;
The step of rhythmizing the foot end displacement information to obtain target rhythmic displacement information comprises the following steps:
carrying out mapping relation association processing on the horizontal displacement information and the vertical displacement information to obtain foot end track symmetry relation information; the symmetrical relation of the foot end track represents the association relation between the displacement in the X direction and the displacement in the Z direction;
calculating the symmetrical relation information of the foot end track by using the first rhythm model to obtain first rhythm displacement information;
calculating the symmetrical relation information of the foot end track by using the second rhythm model to obtain second rhythm displacement information;
performing association processing on the first rhythm displacement information, the second rhythm displacement information and the vertical displacement information to obtain target rhythm displacement information;
solving the space displacement coordinate information by using a preset inverse kinematics model to obtain electric cylinder motion parameter information; and the motion parameter information of the electric cylinder is used for indicating the constant level control of the parallel robot.
2. The data processing method for parallel robot constant level control according to claim 1, wherein the solving the target rhythmic displacement information by using a displacement solving model to obtain spatial displacement coordinate information comprises:
Performing discretization solving processing on the displacement solving model by using a preset discrete solving model to obtain solving signal information; the solving signal information is related to the frequency parameters of the displacement solving model;
and calculating the solving signal information by using the target rhythm displacement information to obtain space displacement coordinate information.
3. The data processing method for parallel robot constant level control according to claim 1, wherein the displacement solving model is obtained based on the steps of:
acquiring constraint condition information; the constraint condition information comprises at least 6 constraint parameter information;
constructing an adaptability function; the fitness function characterizes a motion waveform relationship of the first foot and the second foot;
and determining the displacement solving model according to the constraint condition information and the fitness function.
4. A data processing method for parallel robot constant level control according to claim 3, wherein said determining the displacement solving model according to the constraint condition information and the fitness function comprises:
updating a preset initial optimization model by using the constraint condition information to obtain a model to be optimized;
Performing parameter optimization processing on the model to be optimized by using the fitness function to obtain alternative optimization model information;
judging whether the alternative optimization model information meets a preset optimization termination condition or not to obtain a first judgment result; the optimized termination conditions comprise a first termination condition and a second termination condition; the first termination condition is related to an error parameter of the parameter optimization process; the second termination condition is related to the iteration number of the parameter optimization process;
when the first judgment result is negative, updating the model to be optimized by using the alternative optimization model information, and triggering and executing the parameter optimization processing on the model to be optimized by using the fitness function to obtain the alternative optimization model information;
and when the first judgment result is yes, determining the displacement solving model according to the alternative optimizing model information.
5. The data processing method for parallel robot constant level control according to claim 1, wherein the solving the spatial displacement coordinate information by using a preset inverse kinematics model to obtain electric cylinder motion parameter information comprises:
Sequentially inputting the space displacement coordinate information into a preset inverse kinematics model according to time sequence to carry out solving calculation to obtain motion track information;
acquiring parameter information of an electric cylinder of the parallel robot;
and performing inverse operation processing on the motion trail information by using the electric cylinder parameter information to obtain electric cylinder motion parameter information.
6. A data processing apparatus for parallel robot constant level control, the apparatus comprising:
the acquisition module is used for acquiring foot end displacement information; the foot end displacement information comprises horizontal displacement information and vertical displacement information; the horizontal displacement information represents the displacement change condition in the X direction; the vertical displacement information represents the displacement change condition in the Z direction; the X direction and the Z direction are coordinate directions in a three-dimensional coordinate system; the displacement variation in the X direction is continuously variable; the displacement variation in the Z direction is rhythmic;
the first processing model is used for solving the foot end displacement information by utilizing a displacement solving model to obtain space displacement coordinate information; the space displacement coordinate information represents the motion trail condition of a first foot and the motion trail condition of a second foot of the parallel robot; the mechanical structure of the first foot is congruent with the mechanical structure of the second foot;
The method for solving the displacement information of the foot end by using a preset displacement solving model to obtain spatial displacement coordinate information comprises the following steps:
carrying out rhythmization processing on the foot end displacement information by using a preset rhythm model to obtain target rhythm displacement information; the target rhythm displacement information represents the motion trail of the X-direction rhythm variation and the motion trail of the Z-direction rhythm variation;
solving the target rhythm displacement information by using a displacement solving model to obtain space displacement coordinate information;
wherein the rhythm model comprises a first rhythm model and a second rhythm model; the first rhythmic model is used for rhythmic processing of displacement change conditions of the parallel robot in the X direction in a leg lifting stage; the second rhythmic model is used for rhythmizing displacement change conditions of the parallel robot in the X direction in a leg falling stage;
the step of rhythmizing the foot end displacement information to obtain target rhythmic displacement information comprises the following steps:
carrying out mapping relation association processing on the horizontal displacement information and the vertical displacement information to obtain foot end track symmetry relation information; the symmetrical relation of the foot end track represents the association relation between the displacement in the X direction and the displacement in the Z direction;
Calculating the symmetrical relation information of the foot end track by using the first rhythm model to obtain first rhythm displacement information;
calculating the symmetrical relation information of the foot end track by using the second rhythm model to obtain second rhythm displacement information;
performing association processing on the first rhythm displacement information, the second rhythm displacement information and the vertical displacement information to obtain target rhythm displacement information;
the second processing model is used for solving the space displacement coordinate information by utilizing a preset inverse kinematics model to obtain electric cylinder motion parameter information; and the motion parameter information of the electric cylinder is used for indicating the constant level control of the parallel robot.
7. A data processing apparatus for parallel robot constant level control, the apparatus comprising:
a memory storing executable program code;
a processor coupled to the memory;
the processor invokes the executable program code stored in the memory to perform the data processing method for parallel robot constant level control as claimed in any one of claims 1 to 5.
8. A computer storage medium storing computer instructions which, when invoked, are adapted to perform the data processing method for parallel robot constant level control of any one of claims 1-5.
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