CN115502979A - Active flexible and accurate control method and system for moment of mechanical arm - Google Patents
Active flexible and accurate control method and system for moment of mechanical arm Download PDFInfo
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- CN115502979A CN115502979A CN202211302722.3A CN202211302722A CN115502979A CN 115502979 A CN115502979 A CN 115502979A CN 202211302722 A CN202211302722 A CN 202211302722A CN 115502979 A CN115502979 A CN 115502979A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The invention provides a method and a system for accurately controlling active compliance of moment of a mechanical arm, the mechanical arm firstly realizes the autonomous planning of an operation track and an operation attitude at a target position in a position control mode, then realizes the active compliance control in a force impedance control mode, carries out contact operation with a target environment, estimates the stress condition of the tail end according to the difference value of an expected attitude and an actual attitude of the tail end of the mechanical arm so as to judge whether to accurately touch an operated object, then detects whether the operation process is normal through the force feedback of an operation tool, and stops and retries in time when the operation fails or the stress direction does not meet the expectation, thereby improving the stability of the autonomous operation of the mechanical arm, ensuring the stable motion process of the mechanical arm, accurately controlling the contact force of the tail end of the mechanical arm and the environment, and meeting the production requirements of industrial mechanical arms.
Description
Technical Field
The invention belongs to the technical field of mechanical arm control, and relates to a method and a system for actively, flexibly and accurately controlling the moment of a mechanical arm.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The implementation and the promotion of industrial automation and intelligent development strategies, the rapid development of the robot technology and the promotion of the industrial upgrading of the manufacturing industry are the main direction of the future industrial development of the country. The mechanical arm is used as a most representative mechanical device in the field of robots, is used for replacing human beings to carry out work with high labor intensity, high repeatability, high safety risk and complex operating environment, and is widely applied to the fields of industrial production, aerospace, military medical treatment and the like.
The electric power inspection robot is an intelligent device for inspecting equipment such as an electric power screen cabinet in a transformer substation, and mainly comprises a vehicle body, a mechanical arm, a steering engine holder and a detection assembly arranged on the steering engine holder, wherein during inspection work, the electric power inspection robot moves according to a preset cruising route, and after reaching a preset position, a camera carried by the mechanical arm detects and acquires images of the electric power screen cabinet, and an end-of-arm tool is used for operating a specified key or a switch of the electric power screen cabinet. However, when the tail end of the mechanical arm contacts with the operation target, a large contact force is generated, which not only affects the operation precision, but also easily damages the power screen cabinet. Therefore, the contact force between the tail end of the mechanical arm and the operation target needs to be accurately controlled through the compliance control of the mechanical arm.
Compliance refers to the ability of the mechanical arm to adapt to changes in the external environment. If the environment is deformed due to the acting force of the mechanical arm, the mechanical arm can still keep the expected contact force and the environment to be mutually contacted, namely the flexibility of the mechanical arm. Compliance control can be divided into active compliance control and passive compliance control. The robot can generate natural compliance to external acting force when contacting with the environment by virtue of auxiliary compliance mechanisms, and the compliance is called as passive compliance; the feedback information of the robot utilization force adopts a certain control strategy to omit the active control action force, and the control strategy is called active flexibility.
In the patent document CN216913821U, a mechanical finger for operating a power cabinet is designed, and a tool at the end of a mechanical arm is designed to solve the flexibility of the operation of the mechanical arm, and this method adopts a passive compliance device to perform operation, which belongs to passive compliance control.
Impedance control is a commonly used active compliance control algorithm for controlling the terminal contact process, the relation between the pose of a terminal tool and contact force/moment is regarded as a spring-mass-damping system, the terminal pose can be corrected in real time by measuring the contact force, and the method is widely applied to modern mechanical arm compliance control. In the traditional impedance control, a pair of contradictory indexes are between force and position, the force control requires lower rigidity of the mechanical arm to ensure the flexibility of the mechanical arm when the mechanical arm is contacted with the environment, and the position control requires higher servo rigidity of the mechanical arm to ensure higher position control precision of the mechanical arm, so that the adoption of the impedance control can cause the shaking of the mechanical arm and the precision is reduced.
Disclosure of Invention
The invention aims to solve the problems and provides a method and a system for accurately controlling the active compliance of the moment of a mechanical arm.
According to some embodiments, the invention adopts the following technical scheme:
a mechanical arm moment active compliance accurate control method comprises the following steps:
acquiring target operation environment information, and sending a target operation position to the mechanical arm;
controlling the mechanical arm in a position control mode to realize the autonomous planning of the operation track and the operation posture at the target position;
the active compliance control of the contact operation of the tail end of the mechanical arm and a target environment is realized in a force impedance control mode, the stress condition of the tail end is estimated according to the difference value of the expected pose and the actual pose of the tail end of the mechanical arm, whether the tail end accurately touches an operated object is judged, and the contact force between the tail end of the mechanical arm and the environment is adjusted.
As an alternative embodiment, the desired trajectory of the robot arm is tracked with the position, velocity and acceleration of the robot arm joint as desired when controlling the robot arm in the position control mode.
As an alternative embodiment, the specific process of controlling the mechanical arm in the position control mode includes forming a series of path points with speed, acceleration and time information between the starting point and the target operation position by a cubic spline interpolation method, solving a kinematic equation, performing inverse kinematic analysis on the mechanical arm, calculating the motion angle of each joint of the mechanical arm at each path point according to the path point information generated by the trajectory planning, and enabling the tail end of the mechanical arm to accurately reach the target position through the series of path points by the motion of each joint of the mechanical arm.
As an alternative implementation mode, in the process of realizing active compliance control of the contact operation of the tail end of the mechanical arm and a target environment in a force impedance control mode, an internal circuit adopts a PID method to carry out joint driving torque closed-loop control, and an external circuit converts track deviation into force deviation.
As an alternative embodiment, the deviation of the actual trajectory of the end of the robot arm from the desired trajectory is converted into a joint drive to adjust the contact force between the end of the robot arm and the environment.
As an alternative embodiment, in the robot motion control process, collision detection is performed in real time, and if the robot touches a person or equipment due to a change in the work environment, the robot is immediately stopped according to feedback of the robot force.
An active compliant precision control system for moment of a mechanical arm, comprising:
the detection unit is configured to acquire target operation environment information and send a target operation position to the mechanical arm;
the position control unit is configured to control the mechanical arm in a position control mode, and the autonomous planning of the operation track and the operation posture at the target position is realized;
and the impedance control unit is configured to realize active compliance control of the contact operation of the tail end of the mechanical arm and a target environment in a force impedance control mode, estimate the stress condition of the tail end according to the difference value between the expected pose and the actually measured pose of the tail end of the mechanical arm, judge whether the tail end accurately touches an operated object and adjust the contact force between the tail end of the mechanical arm and the environment.
As an alternative embodiment, the detection unit includes a depth camera disposed at the end of the mechanical arm, the depth camera is configured to identify a feature point of a work target and obtain position information of the mechanical arm on the work target, and the six-dimensional force sensor is configured to obtain torques of joints of the mechanical arm to calculate a contact force of the end of the mechanical arm in contact with a target environment.
In an alternative embodiment, the control system communicates with the robotic arm, and the control system employs a point-to-point distributed communication mechanism.
As an alternative embodiment, the control system further includes a robot kinematics compiler, configured to solve a kinematics equation, perform inverse kinematics analysis on the robot, and solve the motion angle of each joint of the robot at each path point according to the path point information generated by the trajectory planning.
A computer readable storage medium having stored therein a plurality of instructions adapted to be loaded by a processor of a terminal device and to carry out the steps of the method.
A terminal device comprising a processor and a computer readable storage medium, the processor being configured to implement instructions; the computer readable storage medium is used for storing a plurality of instructions adapted to be loaded by a processor and to perform the steps of the method.
A robot, which executes the steps of the method, comprises the system.
Compared with the prior art, the invention has the beneficial effects that:
the invention innovatively provides a mechanical arm moment active compliance accurate control method, which combines a position control mode and an impedance control mode, acquires target operation environment information through a visual information processing system, sends a target operation position to a mechanical arm, controls the motion of the tail end of the mechanical arm, realizes the autonomous planning operation track and operation attitude of the target position by the mechanical arm in the position control mode through mechanical arm track planning and control algorithm codes, then realizes the active compliance control in the impedance control mode of force, performs contact operation with the target environment, estimates the stress condition of the tail end according to the difference value of the expected attitude and the actually measured attitude of the tail end of the mechanical arm, and performs adjustment. The mechanical arm can also detect whether the operation process is normal or not through force feedback of an operation tool, and timely stop and retry when the operation fails or the stress direction is not in accordance with expectation, so that the stability of the automatic operation of the mechanical arm is improved, and the contact force between the tail end of the mechanical arm and the environment is accurately controlled while the stable motion process of the mechanical arm is ensured.
The invention innovatively provides a moment active compliance accurate control system of a mechanical arm, which is based on an ROS motion planning execution system, calculates the actual contact force with the environment through six-dimensional force sensors at all joints of the mechanical arm, and converts the deviation of the actual track and the expected track of the tail end of the mechanical arm into joint drive to adjust the contact force between the tail end of the mechanical arm and the environment; the method avoids the contradiction between high rigidity and high flexibility of the mechanical arm, solves the problems of strong specificity, poor adaptability and limited application range of passive flexible control, and realizes the consideration of the operation position precision and the contact force control of the mechanical arm.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are included to illustrate an exemplary embodiment of the invention and not to limit the invention.
FIG. 1 is a robot arm control system architecture;
FIG. 2 is a flow chart of the mechanical arm movement trajectory planning;
FIG. 3 is a flow chart of the verification of the trajectory planning of the robot arm;
FIG. 4 is a schematic of position-based compliance control.
Detailed Description
The invention is further described with reference to the following figures and examples.
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. 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 invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The invention provides a method for actively, flexibly and accurately controlling the moment of a mechanical arm in the process of contact of the mechanical arm and an operation environment.
The invention adopts Moveit! The method comprises the steps of completing Planning and control of a mechanical arm, using IK-Fast to achieve inverse kinematics solution, using OMPL (Open Motion Planning Library) to plan a Motion track, using FCL (Flexible logic Library) to achieve Collision detection and prediction, using a trajectory processing routine to generate a Motion track meeting the limitation of joint speed and acceleration, using impedance control of the mechanical arm to achieve active compliance control, using a difference value between an expected pose and an actual pose at the tail end of the mechanical arm to estimate the stress condition of the tail end, thereby judging whether an operated object is accurately touched, then detecting whether the operation process is normal through force feedback of an operation tool, and stopping and retrying in time when the operation fails or the stress direction does not meet the expectation.
As shown in FIG. 1, the method and system for active compliant accurate control of moment of a mechanical arm mainly comprises a visual information positioning system and a motion planning execution system. The mechanical arm visual information positioning system mainly comprises a depth camera and is used for identifying the characteristic points of the operation target and obtaining the position information of the mechanical arm on the operation target.
The motion planning execution system consists of an industrial personal computer and a mechanical arm, wherein the industrial personal computer adopts an ROS robot operation system and a point-to-point distributed communication mechanism to realize point-to-point loose coupling connection among modules, and communication services among the motion planning execution system, the visual positioning system and the dynamic planning execution system are realized by utilizing a communication mechanism Topic (Topic) communication mechanism, a Service communication mechanism and a Parameter (Parameter) management mechanism which are the most core of the industrial personal computer; moveit! The method is a component of a series of function packages for mobile operation in the ROS, and takes a move _ group as a core node, and integrates various components, which mainly include functions of motion planning, collision detection, kinematics, 3D sensing, operation control, and the like, and for the prior art, the details are not repeated here.
The invention takes the mechanical arm to press the button of the electric power screen cabinet as an example, and the technical scheme of the invention is described in detail. The mechanical arm visual information positioning system identifies characteristic points of keys of the power screen cabinet, obtains position information of buttons of the power screen cabinet, sends the position information to a mechanical arm control interface (manipulator _ controller), the mechanical arm receives the position information of the buttons of the power screen cabinet, determines a point in front of the position, plans a track, and moves the tail end of the mechanical arm to the position in a preset posture through a position control mode.
The position control mode is a control mode for tracking a desired trajectory of the robot arm with the position, velocity, and acceleration of the robot arm joint as desired. The trajectory plan is a series of path points with time information such as belt speed and acceleration. These path points are represented in terms of joint space, and are transformed into a continuous smooth curve using a trajectory planning algorithm.
After receiving the target position information, the mechanical arm control interface performs Motion trajectory Planning by using Open Motion Planning Library (OMPL), a series of path points with time information such as speed and acceleration are formed between a starting point and a target point by a cubic spline interpolation method, the path point information is issued to a topic of 'joint _ states' in a message queue mode, the mechanical arm Motion node receives the path point information from the topic of 'joint _ states', a kinematics equation is solved by a mechanical arm kinematics compiler IKFast, inverse kinematics analysis of the mechanical arm is performed, motion angles of six joints of the mechanical arm at each path point are solved according to the path point information generated by the trajectory Planning, and the tail end of the mechanical arm accurately reaches the target position through one path point through the Motion of each joint of the mechanical arm, as shown in fig. 2.
As shown in FIG. 3, the present invention communicates with the move | via the mobile _ group _ interface class via the xmate7_ controller node! The method comprises the steps of carrying out interaction by a core, controlling the motion of a mechanical arm, initializing a planning group, setting a reference coordinate system, setting motion errors, setting limit parameters, judging whether the motion is Cartesian space motion or not if a track motion instruction is received, starting Cartesian space planning if the motion is judged to be the Cartesian space motion, carrying out axial space planning if the motion is not judged to be the Cartesian space motion, starting the motion if the planning is successful, and restarting the planning process if the motion is not judged to be the cartesian space motion.
The mechanical arm structure is composed of a modularized joint, a connecting rod and a tail end tool, so that the mechanical arm has the characteristic of a physical structure, the mechanical arm has kinematic limitation in the actual working process and inertia generated by movement, and when the mechanical arm is in contact with the environment, the characteristic of the mechanical arm can be described by using impedance.
The present invention uses a force-based impedance control mode, the inner loop uses a PID method to perform joint driving torque closed-loop control, and the outer loop converts the trajectory deviation into a force deviation through an impedance controller, as shown in FIG. 4.
in FIG. 4, F e Refers to the actual contact force with the environment detected by a six-dimensional force sensor arranged at the tail end during the motion of the mechanical arm,
and
the angle, the angular velocity and the angular acceleration of the joint of the mechanical arm are respectively obtained, and then the tail end position, the tail end velocity and the tail end acceleration of the mechanical arm can be obtained through positive kinematics and a Jacobian matrix.
When the mechanical arm moves to a certain point in front of the button of the power screen cabinet, the control mode of the mechanical arm is switched from the position control mode to the impedance control mode, the mechanical arm plans the track of the tail end according to the coordinate position information, so that a tool at the tail end of the mechanical arm touches the button of the power screen cabinet with preset force, and when the received feedback force is greater than the preset value, the tail end of the mechanical arm withdraws to be away from the button of the screen cabinet.
And in the whole process of the movement of the mechanical arm, the FCL (Flexible colloid Library) is used for realizing Collision detection and prediction, if the mechanical arm is in contact with a person or equipment due to the change of the working environment, the mechanical arm stops working immediately according to the feedback of the mechanical arm force, and the safety of the person and the equipment is protected.
The use scene of the invention is not limited to the operation process of the power screen cabinet.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive changes in the technical solutions of the present invention.
Claims (13)
1. An active compliant accurate control method for moment of a mechanical arm is characterized by comprising the following steps:
acquiring target operation environment information, and sending a target operation position to the mechanical arm;
controlling the mechanical arm in a position control mode to realize the autonomous planning of the operation track and the operation posture at the target position;
the active compliance control of the contact operation of the tail end of the mechanical arm and a target environment is realized in a force impedance control mode, the stress condition of the tail end is estimated according to the difference value of the expected pose and the actual pose of the tail end of the mechanical arm, whether the tail end accurately touches an operated object is judged, and the contact force between the tail end of the mechanical arm and the environment is adjusted.
2. The method for actively controlling the torque of the mechanical arm in the flexible and precise manner as claimed in claim 1, wherein the position, the speed and the acceleration of the joint of the mechanical arm are taken as expectations when the mechanical arm is controlled in a position control mode, and the expected track of the mechanical arm is tracked.
3. The method as claimed in claim 1 or 2, wherein the step of controlling the arm in the position control mode comprises forming a series of path points with velocity, acceleration and time information between the starting point and the target working position by cubic spline interpolation, solving kinematic equations, performing inverse kinematic analysis of the arm, determining the motion angle of each joint of the arm at each path point according to the path point information generated by the trajectory planning, and allowing the end of the arm to accurately reach the target position through the series of path points by the motion of each joint of the arm.
4. The method as claimed in claim 1, wherein during the active compliance control of the robot arm end in contact with the target environment in the force impedance control mode, the inner loop performs closed-loop control of joint driving torque by PID method, and the outer loop converts the trajectory deviation into force deviation.
5. The method as claimed in claim 1, wherein the deviation between the actual trajectory and the expected trajectory of the end of the robot arm is converted into a joint drive to adjust the contact force between the end of the robot arm and the environment.
6. The active compliant precision control method of moment of a robot arm as claimed in claim 1, wherein during the robot arm motion control, collision detection is performed in real time, and if the robot arm touches a person or equipment due to a change in working environment, the robot arm immediately stops working according to the feedback of the robot arm force.
7. The utility model provides a moment initiative gentle and agreeable accurate control system of arm, characterized by includes:
the detection unit is configured to acquire target operation environment information and send a target operation position to the mechanical arm;
the position control unit is configured to control the mechanical arm in a position control mode, and the autonomous planning of the operation track and the operation posture at the target position is realized;
and the impedance control unit is configured to realize active compliance control of the contact operation of the tail end of the mechanical arm and a target environment in a force impedance control mode, estimate the stress condition of the tail end according to the difference value between the expected pose and the actually measured pose of the tail end of the mechanical arm, judge whether the tail end accurately touches an operated object and adjust the contact force between the tail end of the mechanical arm and the environment.
8. The active moment compliance accuracy control system for robot arm according to claim 7, wherein said detection unit comprises a depth camera and a six-dimensional force sensor disposed at the end of the robot arm, said depth camera is used to identify the characteristic points of the operation target and obtain the position information of the robot arm on the operation target, said six-dimensional force sensor is used to obtain the contact force of the end of the robot arm and the target environment.
9. The active compliant precision control system of moment for a robot arm of claim 7 wherein said control system is in communication with a robot arm, said control system employing a point-to-point distributed communication mechanism.
10. The active compliant precision control system for moment of a robot arm as claimed in claim 7, wherein said control system further comprises a robot kinematics compiler for solving kinematic equations, performing inverse kinematics analysis of the robot arm, and determining the motion angle of each joint of the robot arm at each path point according to the path point information generated by the trajectory planning.
11. A computer-readable storage medium having stored thereon instructions adapted to be loaded by a processor of a terminal device and to perform the steps of the method of any one of claims 1 to 6.
12. A terminal device comprising a processor and a computer readable storage medium, the processor being configured to implement instructions; the computer readable storage medium is for storing a plurality of instructions adapted to be loaded by a processor and to perform the steps of the method of any of claims 1-6.
13. A robot, characterized in that the steps of the method according to any of claims 1-6 are performed, comprising the system according to any of claims 7-10.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114274147A (en) * | 2022-02-10 | 2022-04-05 | 北京航空航天大学杭州创新研究院 | Target tracking control method and device, mechanical arm control equipment and storage medium |
| CN117464691A (en) * | 2023-12-27 | 2024-01-30 | 中国科学院自动化研究所 | Rebound prevention control method, rebound prevention control device, electronic equipment and storage medium |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114274147A (en) * | 2022-02-10 | 2022-04-05 | 北京航空航天大学杭州创新研究院 | Target tracking control method and device, mechanical arm control equipment and storage medium |
| CN117464691A (en) * | 2023-12-27 | 2024-01-30 | 中国科学院自动化研究所 | Rebound prevention control method, rebound prevention control device, electronic equipment and storage medium |
| CN117464691B (en) * | 2023-12-27 | 2024-03-22 | 中国科学院自动化研究所 | Rebound prevention control method, rebound prevention control device, electronic equipment and storage medium |
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