CN115674207A - Mechanical arm joint coupling error compensation method, device, equipment and storage medium - Google Patents
Mechanical arm joint coupling error compensation method, device, equipment and storage medium Download PDFInfo
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Abstract
The application relates to a method, a device, equipment and a storage medium for compensating coupling errors of a mechanical arm joint. The method comprises the following steps: obtaining theoretical motor rotation angles corresponding to all joints based on the target pose of the tail end of the mechanical arm; determining the transmission chain gap error of each joint driving gear according to the rotation angle of the theoretical motor; respectively obtaining deflection errors of the tail ends of the joints and displacement errors generated by tooth gaps based on the gap errors of the transmission chains, and obtaining coupling errors generated by rigid-flexible coupling of the joints based on the deflection errors of the tail ends of the joints and the displacement errors generated by the tooth gaps; decoupling the coupling errors to obtain motor rotation angle errors corresponding to all joints, and performing error compensation on the motor based on the motor rotation angle errors. By adopting the method, the joint coupling error detection and compensation of the rigid-flexible coupling mechanical arm can be realized, and the operation accuracy of the mechanical arm is greatly improved.
Description
Technical Field
The application relates to the technical field of industrial control, in particular to a method, a device, equipment and a storage medium for compensating coupling errors of a mechanical arm joint.
Background
In industrial control, industrial robots are used more and more widely in various industries as one of important devices, but at the same time, higher demands are also made on industrial robots. Wherein, industrial robot is because there is the error between the corresponding joint, so need compensate the error.
In the conventional technology, an industrial mechanical arm can be divided into a rigid system, a flexible system and a rigid-flexible coupling system, clearance backlash compensation is performed on the rigid system, deformation compensation is performed on the flexible system, and nonlinear compensation combining the rigid system and the flexible system is performed on the rigid-flexible coupling system. The error compensation methods are established in the way that a driving power source is arranged on the joints of the mechanical arm, errors among the joints are related and have no coupling relation, namely, only the total error influencing the tail end of the mechanical arm after the multi-joint errors are superposed exists, and the mutual influence of the joint errors does not exist. Therefore, the error compensation cannot be applied to the error compensation of the mechanical arm under the working condition that the multi-joint errors affect each other.
Therefore, the problem of error compensation of the tail end of the mechanical arm when a coupling relation exists between the rotation angle errors of the joint of the mechanical arm needs to be solved.
Disclosure of Invention
Therefore, in order to solve the technical problems, a robot arm joint coupling error compensation method, a robot arm joint coupling error compensation device, a robot arm joint coupling error compensation equipment and a storage medium are provided, wherein the robot arm joint coupling error compensation method, the robot arm joint coupling error compensation device, the robot arm joint coupling error compensation equipment and the storage medium can realize error compensation under the working condition that multi-joint errors mutually influence.
In a first aspect, the present application provides a method for compensating a joint coupling error of a mechanical arm, including:
obtaining theoretical motor rotation angles corresponding to all joints based on the target pose of the tail end of the mechanical arm;
determining the transmission chain gap error of each joint driving gear according to the rotation angle of the theoretical motor;
respectively obtaining deflection errors of the tail ends of the joints and displacement errors generated by tooth gaps on the basis of the transmission chain gap errors, and obtaining coupling errors generated by rigid-flexible coupling of the joints on the basis of the deflection errors of the tail ends of the joints and the displacement errors generated by the tooth gaps;
and decoupling the coupling errors to obtain motor rotation angle errors corresponding to each joint, and performing error compensation on the motor based on the motor rotation angle errors.
In one embodiment, obtaining the theoretical motor rotation angle corresponding to each joint based on the target pose of the end of the mechanical arm includes:
converting the target pose into a theoretical joint corner of each joint based on a kinematic model between the joints of the mechanical arm;
and decoupling the theoretical joint corners based on the coupling relationship between the joint corners and the motor corners to obtain the theoretical motor corners corresponding to the joints.
In one embodiment, determining the drive chain clearance error of each joint drive gear according to the steering of the theoretical motor rotation angle comprises:
judging whether the motor is reversed or not according to the theoretical motor rotation angle, and judging whether transmission chain gap errors exist in each joint driving gear:
if the direction is changed, the corresponding joint driving gear has a transmission chain gap error, and if the direction is not changed, the corresponding joint driving gear does not have the transmission chain gap error.
In one embodiment, the respectively obtaining the deflection error of each joint end and the displacement error generated by the tooth clearance based on the transmission chain clearance error comprises the following steps:
determining the deflection value generated by each group of gears according to the transmission chain gap error, and obtaining the deflection error of the tail end of each joint according to the deflection value generated by each group of gears;
and obtaining the displacement error generated by the tooth clearance at the tail end of each joint according to the clearance error of the transmission chain and the arm length from each joint to the driving motor.
In one embodiment, decoupling the coupling error to obtain the motor rotation angle error corresponding to each joint includes:
converting the coupling error into a joint corner error based on a kinematic model between the joints of the mechanical arm;
and decoupling the joint corner error based on the coupling relation between the joint corner and the motor corner to obtain the motor corner error.
In one embodiment, after performing error compensation on the motor rotation angle error, the method further includes:
coupling the motor corners corresponding to the compensated joints to obtain compensated joint corners;
based on a kinematic model between the joints of the mechanical arm, solving a positive solution of the compensated joint corner to obtain a compensated actual pose;
and verifying whether the actual pose is qualified or not through the deviation value between the actual pose and the target pose.
In one embodiment, verifying whether the actual pose is qualified by the deviation value between the actual pose and the target pose comprises:
if the deviation value is smaller than or equal to a preset threshold value, the actual pose is qualified;
and if the deviation value is larger than the preset threshold value, taking the compensated joint rotation angle as a new theoretical joint rotation angle, re-determining the motor rotation angle error based on the new theoretical joint rotation angle, and performing error compensation on the motor.
In a second aspect, the present application further provides a device for compensating a joint coupling error of a mechanical arm, where the device includes:
the pose module is used for obtaining theoretical motor turning angles corresponding to all joints based on the target pose of the tail end of the mechanical arm;
the judging module is used for determining the transmission chain gap error of each joint driving gear according to the steering of the theoretical motor rotation angle;
the detection module is used for respectively obtaining deflection errors of the tail ends of the joints and displacement errors generated by tooth gaps based on the transmission chain gap errors, and obtaining coupling errors generated by rigid-flexible coupling of the joints based on the deflection errors of the tail ends of the joints and the displacement errors generated by the tooth gaps;
and the compensation module is used for decoupling the coupling errors to obtain motor rotation angle errors corresponding to all joints, and performing error compensation on the motor based on the motor rotation angle errors.
In a third aspect, the present application further provides a computer device, including a memory and a processor, where the memory stores a computer program, and the processor implements the steps of the robot joint coupling error compensation method according to any one of the above embodiments when executing the computer program.
In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the steps of the robot arm joint coupling error compensation method according to any one of the above embodiments.
According to the method, the device, the equipment and the storage medium for compensating the coupling errors of the joints of the mechanical arm, theoretical motor corners corresponding to all the joints are obtained based on the target pose of the tail end of the mechanical arm, the transmission chain gap error of the driving gear of each joint is determined according to the steering of the theoretical motor corners, the deflection error of the tail end of each joint and the displacement error generated by a tooth gap are respectively obtained based on the transmission chain gap error, the coupling error generated by rigid-flexible coupling of each joint is obtained based on the deflection error of the tail end of each joint and the displacement error generated by the tooth gap, the coupling error is decoupled to obtain the motor corner error corresponding to each joint, and the error compensation is carried out on the motor based on the motor corner error.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments or the conventional technologies of the present application, the drawings used in the descriptions of the embodiments or the conventional technologies will be briefly introduced below, it is obvious that the drawings in the following descriptions are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart illustrating a method for compensating coupling errors of a robot joint according to an embodiment;
FIG. 2 is a schematic diagram of the overall construction of a robotic arm in one embodiment;
FIG. 3 is a schematic diagram of a gear set configuration of a robotic arm in one embodiment;
FIG. 4 is a schematic diagram of a gear engagement of a robotic arm in one embodiment;
FIG. 5 is a schematic view of a compensation and verification process of a robot joint coupling error compensation method according to an embodiment;
FIG. 6 is a logic diagram illustrating a method for compensating for errors in coupling of a robot arm joint according to one embodiment;
FIG. 7 is a block diagram showing the structure of a robot joint coupling error compensation apparatus according to an embodiment;
FIG. 8 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or be connected to the other element through intervening elements. Further, "connection" in the following embodiments is understood to mean "electrical connection", "communication connection", or the like, if there is a transfer of electrical signals or data between the connected objects.
As used herein, the singular forms "a", "an" and "the" may include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises/comprising," "includes" or "including," etc., specify the presence of stated features, integers, steps, operations, components, parts, or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof.
The method for compensating the coupling error of the mechanical arm joint can be applied to a rigid-flexible coupling mechanical arm, and error compensation under the rigid-flexible coupling condition is achieved.
The compensation of the gap of the joint corresponding to the common industrial mechanical arm can be carried out positive and negative value compensation based on the positive and negative rotation of the joint, when the joint does not have a turning tendency, the gap error does not need to be compensated, but when the coupling condition exists between the joint corner and the motor corner, the judgment of whether the gap error needs to be compensated or not can not be carried out through the corner direction of the joint, because a transmission chain exists between the rotation of the motor and the rotation of the joint, and the error generated by the gap in the transmission chain to the corresponding joint corner is influenced by the coupling of other transmission chains.
Taking two transmission chains as an example, when the joint rotation angle relationship is R theta 1 =θ 1 *i 1 +Dθ 1 ，Rθ 2 = (θ 1 + Dθ 1 ) *i 2 +θ 2 *i 2 + Dθ 2 Wherein, R θ 1 、Rθ 2 The angle of rotation, theta, of the joints 1, 2, respectively 1 、θ 2 Angle of rotation of the motors 1, 2, D θ 1 、Dθ 2 For transmission chain 1, 2 clearance error, i 1 、i 2 Error DR theta of joint 2 rotation angle is coupling coefficient 2 = Dθ 1 *i 2 + Dθ 2 In this case, D θ 1 *i 2 And D θ 2 Is uncertain, when there is a positive or negative, DR θ 2 The backlash compensation value DR θ cannot be determined from the direction of the rotation angle of the joint 2 2 That is, it cannot be determined whether a clearance error compensation value needs to be introduced by switching the rotational angle direction of the joint 2, that is, when the rotational angle direction of the joint 2 is switched and the rotational angle direction of the motor 2 is not switched, it needs to be determined by a coupling matrix between the joint and the rotational angle of the motor. Similarly, based on the uncertainty of the variation trend of the gap, the deformation of the joint is uncertainIt is also good.
In one embodiment, as shown in fig. 1, there is provided a method for compensating a joint coupling error of a robot arm, including the steps of:
s100: obtaining theoretical motor rotation angles corresponding to all joints based on the target pose of the tail end of the mechanical arm;
specifically, the tail end of the mechanical arm is an execution end of the mechanical arm, and the target pose is a target position and a target attitude of the execution end of the mechanical arm, wherein the target position can be represented by a space coordinate, and the target attitude can be represented by an orthogonal rotation matrix, a fixed angle, an euler angle, an equivalent axial angle, a unit quaternion and the like.
Specifically, theoretical motor corners corresponding to the joints are obtained based on a kinematic model of the mechanical arm and a coupling relationship between the joint corners and the motor corners, wherein the kinematic model and the coupling relationship are different for different mechanical arms, and the kinematic model and the coupling relationship need to be determined according to specific structures of the mechanical arms.
S200: determining the transmission chain gap error of each joint driving gear according to the rotation angle of the theoretical motor;
specifically, the rotation direction of a theoretical motor rotation angle refers to the motor rotation direction, and the transmission chain gap error refers to the error of the joint driving gear caused by the meshing gap. Because gaps exist between motor driving gears of all joints, the gaps can cause certain virtual positions in the operation of the motors, and transmission chain gap errors of the driving gears of all joints can also be generated, wherein when the motors rotate twice along the same direction, because meshing points between the driving gears are kept on the same side, the transmission chain gap errors do not exist in the situation, and when the motors rotate twice along opposite directions, because the meshing points between the driving gears are on different sides, the rotation direction needs to stride over the gaps existing in the meshing between the driving gears, and the transmission chain gap errors exist in the situation.
Specifically, based on the above principle, it can be known that the condition for generating the transmission chain gap error is that the motor is reversed, that is, the rotation direction of the motor is changed, and therefore, the present embodiment determines whether the transmission chain gap error exists in each joint driving gear according to the rotation direction of the theoretical motor rotation angle. Further, the transmission chain clearance error is a constant, the magnitude of the transmission chain clearance error is determined by the meshing clearance between the motor drive gears, and the clearance error gradually increases due to abrasion as the use time increases.
S300: respectively obtaining deflection errors of the tail ends of the joints and displacement errors generated by tooth gaps on the basis of the transmission chain gap errors, and obtaining coupling errors generated by rigid-flexible coupling of the joints on the basis of the deflection errors of the tail ends of the joints and the displacement errors generated by the tooth gaps;
specifically, the deflection error is a linear displacement of the joint axis in a direction perpendicular to the axis when a force is applied, wherein, taking fig. 2 and fig. 3 as an example, the torque of the corresponding motor of each joint is transmitted to the joint through a gear set, and because of the gear meshing coupling relationship between the joints, the specific torque of the joint is commonly borne by one or more corresponding sets of gears, and correspondingly, the deflection deformation generated by the joint is commonly borne by the corresponding gear set and the related transmission chain. Further, referring to fig. 4, there is uncertainty about the meshing relationship of the gear sets, i.e., the meshing point may be on the left or right side, and one or more gear sets may be unstressed between the gear sets due to the support of other gear sets, and thus, the deflection deformation caused by the joints is particularly related to the meshing relationship of the respective gear sets. Based on the principle, the meshing relation of each related gear set is determined according to the transmission chain gap error, and therefore the deflection deformation, namely the deflection error, generated by the whole joint is determined.
Specifically, the displacement error generated by the backlash at the end of each joint is the displacement error generated by the backlash error of the transmission chain on the joint, wherein the displacement error generated by the backlash at the end of each joint can be obtained by converting according to a kinematic model corresponding to the specific structure of the mechanical arm.
Specifically, the deflection error reflects a flexibility error, the displacement error reflects a rigidity error, and the coupling error generated by rigid-flexible coupling of each joint can be obtained by superposing the deflection error of the tail end of each joint and the displacement error generated by a backlash, wherein the deflection error and the displacement error are displacement variables, so the obtained coupling error is also a displacement variable and reflects the displacement generated by the overall error of the tail end of each joint.
S400: and decoupling the coupling errors to obtain motor rotation angle errors corresponding to each joint, and performing error compensation on the motor based on the motor rotation angle errors.
Specifically, as described above, the coupling error is a displacement amount generated by an overall error at the end of each joint, a motor rotation angle error corresponding to each joint, that is, an angle that the motor needs to compensate, can be obtained according to a conversion relationship between the displacement amount and the joint rotation angle and a coupling relationship between the joint rotation angle and the motor rotation angle, and the motor is subjected to error compensation based on each motor rotation angle error, so as to implement overall compensation of the mechanical arm.
According to the method for compensating the coupling error of the joint of the mechanical arm, the influence of the coupling relation among the gear groups on the absolute error of the tail end is fully considered, the measurement of the rigidity error and the flexibility error is realized under the mutual influence of multiple joints, so that the detection and compensation of the coupling error of the rigid-flexible coupling mechanical arm are realized, the problems of application limitation of the existing rigid-flexible coupling algorithm under the coupling motion working condition and error compensation of the tail end of the mechanical arm when the coupling relation exists among the rotation angle errors of the joint of the mechanical arm are solved, and the operation accuracy of the rigid-flexible coupling mechanical arm is improved.
In one embodiment, obtaining the theoretical motor rotation angle corresponding to each joint based on the target pose of the end of the mechanical arm comprises: converting the target pose into a theoretical joint corner of each joint based on a kinematic model between the joints of the mechanical arm; and decoupling the theoretical joint corners based on the coupling relationship between the joint corners and the motor corners to obtain the theoretical motor corners corresponding to the joints.
Specifically, according to the specific structure and the kinematic model of the mechanical arm, the corresponding relation between the target pose of the mechanical arm and each joint corner can be determined, so that the conversion from the target pose to the theoretical joint corner is realized, and similarly, according to the specific structure and the kinematic model of the mechanical arm, the coupling relation between the joint corner of the mechanical arm and the motor corner can be determined, so that the decoupling of the theoretical joint corner is realized, and the theoretical motor corner is obtained.
For example, referring to fig. 2, there are 7 joints in total, and there are 7 motors, and the coupling relationship between the joint angle and the motor angle in the robot arm can be expressed as:
Rθ 1 =i 1 ×θ 1 equation 1
Rθ 2 =i 2 ×θ 1 +i 2 ×θ 2 Equation 2
Rθ 3 =i 3 ×θ 1 +i 3 ×θ 2 -i 3 ×θ 3 Equation 3
Rθ 4 =i 4 ×θ 1 +i 4 ×θ 2 -i 4 ×θ 3 +i 4 ×θ 4 Equation 4
Rθ 5 =i 5 ×θ 1 +i 5 ×θ 2 -i 5 ×θ 3 +i 5 ×θ 4 +i 5 ×θ 5 Equation 5
Rθ 6 =i 6 ×θ 1 +i 6 ×θ 2 -i 6 ×θ 3 +i 6 ×θ 4 +i 6 ×θ 5 +i 6 ×θ 6 Equation 6
Rθ 7 =i 7 ×θ 1 +i 7 ×θ 2 -i 7 ×θ 3 +i 7 ×θ 4 +i 7 ×θ 5 +i 7 ×θ 6 +i 7 ×θ 7 Equation 7
Wherein R θ 1 To R θ 7 Angle of rotation of joint, theta 1 To theta 7 Is the motor angle i 1 To i 7 For the coupling coefficient, the positive and negative of each item is determined by the specific mechanical arm structure.
For the mechanical arm, based on the formulas 1 to 7, decoupling of the theoretical joint rotation angle can be achieved, and the theoretical motor rotation angle is obtained.
In one embodiment, determining the drive chain clearance error for each articulation drive gear based on the theoretical motor angle of rotation comprises: judging whether the motor is reversed according to the theoretical motor rotation angle, and judging whether each joint driving gear has a transmission chain gap error: if the direction is changed, the corresponding joint driving gear has a transmission chain gap error, and if the direction is not changed, the corresponding joint driving gear does not have the transmission chain gap error.
Specifically, based on the principle described above, the present embodiment determines whether or not a steering occurs based on the theoretical motor rotation angle based on the steering of the theoretical motor rotation angle to determine whether or not there is a transmission chain gap error in each joint driving gear, where if there is a steering in the theoretical motor rotation angle, there is a transmission chain gap error in the corresponding joint driving gear, and optionally, based on the principle described above, the present embodiment determines that each joint is driven based on the steering in the theoretical motor rotation angle, and if there is no steering in the theoretical motor rotation angle, there is no transmission chain gap error in the corresponding joint driving gear.
In one embodiment, the respectively obtaining the deflection error of each joint end and the displacement error generated by the backlash based on the transmission chain backlash error comprises: determining the deflection value generated by each group of gears according to the gap error of the transmission chain, and obtaining the deflection error of the tail end of each joint according to the deflection value generated by each group of gears; and obtaining the displacement error generated by the tooth clearance at the tail end of each joint according to the clearance error of the transmission chain and the arm length from each joint to the driving motor.
Specifically, the meshing relation of each group of gears is determined according to the gap error of the transmission chain, if the meshing point does not change, the corresponding gear set does not generate a deflection value, if the meshing point changes, the corresponding gear set generates a deflection value, and the generated deflection values are further overlapped to obtain the deflection error of the whole joint.
For example, referring to fig. 2 and 3, there are 7 joints in total, 7 motors for the joints, and torque is transmitted through 7 gear sets, wherein the torque of the joint 1 is shared by the gear sets 1 to 7, the torque of the joint 2 is shared by the gear sets 2 to 7,by analogy, the torque of joint 6 is shared by gear sets 6 and 7, and the torque of joint 7 is shared by gear set 7. Taking joint 2 as an example, the terminal flexibility value generated by joint 2f iΣDeflection value generated for each gear setf iThe formula, in sum, can be expressed as:
f iΣ=k2*f2+ k3*f3+ k4*f4+ k5* f5+ k6* f6+ k7*f7
wherein the deflection produced by each gear set is used for deformationf iTo show when the transmission chain gap error D theta i >At the time of 0, the number of the first,ki=0, when D θ i When the value is not less than 0, the reaction time is not less than 0,ki =1，Dθ i there is no value less than 0. By analogy, the deflection value generated by other joints can be obtained, and the deflection value corresponds to the deflection error of the tail end of the joint.
Specifically, according to the specific structure of the robot arm, the displacement error caused by the backlash at the end of each joint is obtained from the transmission chain backlash error and the arm length from each joint to the drive motor, for example, referring to fig. 2, assuming that the arm length from the joint i to the end of the drive motor is Li, the absolute value error caused by the backlash can be approximated to Ei = Li i )。
In one embodiment, decoupling the coupling error to obtain the motor rotation angle error corresponding to each joint includes: converting the coupling error into a joint corner error based on a kinematic model between the joints of the mechanical arm; and decoupling the joint corner error based on the coupling relation between the joint corner and the motor corner to obtain the motor corner error.
Specifically, the joint rotation angle error is a joint error caused by the coupling error, and a corresponding relation between the coupling error and the joint rotation angle error, namely a corresponding relation between joint displacement and a joint rotation angle is determined based on a specific structure and a kinematic model of the mechanical arm, so that the coupling error is converted into the joint rotation angle error.
Specifically, the joint rotation angle errors are decoupled based on the coupling relation between the joint rotation angle and the motor rotation angle, so that the rotation angle errors of each motor are obtained, and the motor error compensation is performed.
For example, referring to FIG. 2, equations 1 through 1 in the above exampleEquation 7, when introducing the drive train backlash error D θ 1 ~ Dθ 7 Then the coupling relationship of the joint 1 is changed to R theta 1 =i 1 ×θ 1 +Dθ 1 I.e. the angle of rotation DR θ of the joint 1 1 = Dθ 1 The coupling relation of the joint 2 is changed to R theta 2 = (θ 1 + Dθ 1 ) *i 2 +θ 2 *i 2 + Dθ 2 I.e. the angle of rotation DR θ of the joint 2 2 = Dθ 1 *i 2 +Dθ 2 By analogy, the rotation angle error DR theta of the joint 3 2 = (Dθ 1 +Dθ 2 )*i 3 - Dθ 3 Angle of rotation DR θ of joint 7 in the same manner 7 =(Dθ 1 + Dθ 2 - Dθ 3 + Dθ 4 + Dθ 5 + Dθ 6 )*i 7 + Dθ 7 . Based on the coupling relation after the transmission chain clearance error is introduced, the joint rotation angle errors are decoupled, so that the rotation angle errors of each motor can be obtained, and the motor error compensation is performed.
In one embodiment, referring to fig. 5, after performing error compensation on the motor rotation angle error, the method further includes: s501: coupling the motor corners corresponding to the compensated joints to obtain compensated joint corners; s502: based on a kinematic model between the joints of the mechanical arm, solving a positive solution of the compensated joint corner to obtain a compensated actual pose; s503: and verifying whether the actual pose is qualified or not through the deviation value between the actual pose and the target pose.
Specifically, after the motor error is compensated, the motor rotation angles corresponding to the compensated joints are subjected to coupling calculation based on the coupling relation between the joint rotation angles and the motor rotation angles to obtain compensated joint rotation angles, then the compensated joint rotation angles are converted into actual positions based on a kinematic model of the mechanical arm so as to compare the actual positions with target positions, and whether the actual positions are compensated in place or not is determined through a deviation value.
In one embodiment, verifying that the actual pose is qualified by the discrepancy value between the actual pose and the target pose comprises: if the deviation value is smaller than or equal to a preset threshold value, the actual pose is qualified; and if the deviation value is larger than the preset threshold value, taking the compensated joint rotation angle as a new theoretical joint rotation angle, re-determining the motor rotation angle error based on the new theoretical joint rotation angle, and performing error compensation on the motor.
Specifically, whether the deviation value is within the allowable range is determined by presetting a threshold value reflecting the allowable error range, if the deviation value is smaller than or equal to the preset threshold value, it is indicated that the actual pose after compensation has reached the allowable error range of the target pose, and if the deviation value is larger than the preset threshold value, it is indicated that the actual pose error after this compensation is too large.
The present embodiment will now be described in detail with reference to a specific scenario, but is not limited thereto.
Referring to fig. 2 and 3, the mechanical arm has 7 total joints, 7 motors correspond to the joints, 7 gear sets are arranged between the joints and the motors, torque of each motor is transmitted to the corresponding joint through the corresponding gear set, a coupling relation exists among the joints, a rotation angle of each joint 1 is determined by a rotation angle of the motor 1, a rotation angle of each joint 2 is determined by rotation angles of the motors 1 and 2, a rotation angle of each joint 3 is determined by rotation angles of the motors 1 to 3, \8230, a rotation angle of each joint 7 is determined by rotation angles of the motors 1 to 7, torque of each joint 2 is jointly borne by the gear sets 2 to 7, torque of each joint 3 is jointly borne by the gear sets 3 to 7, 8230, torque of each joint 7 is jointly borne by the gear sets 3 to 7, and torque of each joint 7 is jointly borne by the gear sets 7.
Referring to fig. 6, the rigid-flexible coupled robot arm performs coupling error compensation, which includes:
solving the inverse of the target pose at the tail end of the mechanical arm through a kinematic model of the mechanical arm to obtain a theoretical joint corner R theta i ；
Theoretical joint rotation angle R θ for each joint through equations 1 to 7 in the above example 1 Decoupling to obtain corresponding theoretical motor rotation angle theta i ；
Based on theoretical motor corner theta i Determining whether or not the steering of each motor is commutated: if the motor corresponding to the joint i is reversed, a driving gear of the joint i has a transmission chain gap error D theta i Otherwise, the clearance error D theta of the transmission chain does not exist i ；
Based on the existing drive chain clearance error D theta i Calculating the deflection error of each joint endf iΣ：
f 1Σ= k1*f1+ k2*f2+ k3*f3+ k4*f4+ k5* f5+ k6* f6+ k7*f7
f 2Σ=k2*f2+ k3*f3+ k4*f4+ k5* f5+ k6* f6+ k7*f7
……
f 6Σ= k6* f6+ k7*f7
f 7Σ=k7*f7
Wherein, when the transmission chain clearance error D theta i >At the time of 0, the number of the first electrode,ki=0, when D θ i When the value is not less than 0, the reaction time is not less than 0,ki =1，Dθ i there is no value less than 0;
based on the presence of drive chain backlash error D θ i And calculating the displacement error generated by the backlash of each joint end:
Ei=Li*tan(Dθ i )
wherein Li is the arm length from the joint i to the tail end of the driving motor.
Based on deflection errors of the tail ends of the joints and displacement errors generated by tooth gaps, coupling errors Ei + generated by rigid-flexible coupling of the joints are obtainedf iΣ；
Determining the corresponding relation between the coupling error and the joint corner error based on the specific structure and the kinematic model of the mechanical arm, and solving the joint corner error DR theta i ；
Coupling relation obtained by deduction after introducing clearance errors of a transmission chain through formulas 1 to 7 in the above examples is used for joint rotation angle errors DR theta i Decoupling is carried out, and the rotation angle error d theta of each motor can be obtained i So as to compensate the motor error;
after the motor error is compensated, based on the coupling relation between the joint rotation angle and the motor rotation angle, each compensated joint is compensatedCoupling calculation is carried out on the motor rotation angle corresponding to the joint to obtain a compensated joint rotation angle R' theta i Compensating the joint rotation angle R' theta based on the kinematic model of the mechanical arm i Converting into an actual pose;
and comparing the actual pose with the target pose, determining a deviation value between the actual pose and the target pose, finishing compensation if the deviation value is less than or equal to a preset threshold, taking the compensated joint corner as a new theoretical joint corner if the deviation value is greater than the preset threshold, re-determining the motor corner error through the method, and performing error compensation on the motor until the actual pose reaches the allowable error range of the target pose.
It should be noted that the above-mentioned mechanical arm is one of the mechanical arms applicable to the method of this embodiment, and more broadly, the method of this embodiment is applicable to any rigid-flexible coupling mechanical arm having coupling motion between joints, so as to implement joint coupling error compensation.
It should be understood that, although the steps in the flowcharts related to the embodiments are shown in sequence as indicated by the arrows, the steps are not necessarily executed in sequence as indicated by the arrows. The steps are not limited to being performed in the exact order illustrated and, unless explicitly stated herein, may be performed in other orders. Moreover, at least a part of the steps in the flowcharts related to the above embodiments may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least a part of the steps or stages in other steps.
Based on the same inventive concept, the embodiment of the application also provides a mechanical arm joint coupling error compensation device for realizing the mechanical arm joint coupling error compensation method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the method, so the specific limitations in one or more embodiments of the robot joint coupling error compensation device provided below can be referred to the limitations of the robot joint coupling error compensation method in the above, and are not described again here.
In one embodiment, as shown in fig. 7, there is provided a robot joint coupling error compensation apparatus including:
the pose module 10 is used for obtaining theoretical motor turning angles corresponding to all joints based on the target pose of the tail end of the mechanical arm;
the judging module 20 is used for determining the transmission chain gap error of each joint driving gear according to the steering of the theoretical motor corner;
the detection module 30 is used for respectively obtaining deflection errors of the tail ends of the joints and displacement errors generated by tooth gaps based on the transmission chain gap errors, and obtaining coupling errors generated by rigid-flexible coupling of the joints based on the deflection errors of the tail ends of the joints and the displacement errors generated by the tooth gaps;
and the compensation module 40 is used for decoupling the coupling errors to obtain motor rotation angle errors corresponding to all joints, and performing error compensation on the motor based on the motor rotation angle errors.
In one embodiment, obtaining the theoretical motor rotation angle corresponding to each joint based on the target pose of the end of the mechanical arm comprises: converting the target pose into a theoretical joint corner of each joint based on a kinematic model between the joints of the mechanical arm; and decoupling the theoretical joint corners based on the coupling relation between the joint corners and the motor corners to obtain the theoretical motor corners corresponding to the joints.
In one embodiment, determining the drive chain clearance error for each articulation drive gear based on the theoretical motor angle of rotation comprises: judging whether the motor is reversed or not according to the theoretical motor rotation angle, and judging whether transmission chain gap errors exist in each joint driving gear: if the reversing occurs, the corresponding joint driving gear has a transmission chain gap error, and if the reversing does not occur, the corresponding joint driving gear does not have the transmission chain gap error.
In one embodiment, the respectively obtaining the deflection error of each joint end and the displacement error generated by the backlash based on the transmission chain backlash error comprises: determining the deflection value generated by each group of gears according to the transmission chain gap error, and obtaining the deflection error of the tail end of each joint according to the deflection value generated by each group of gears; and obtaining the displacement error generated by the tooth clearance at the tail end of each joint according to the clearance error of the transmission chain and the arm length from each joint to the driving motor.
In one embodiment, decoupling the coupling error to obtain the motor rotation angle error corresponding to each joint comprises: converting the coupling error into a joint deformation corner error based on a kinematic model between the joints of the mechanical arm; and decoupling the joint deformation corner error based on the coupling relation between the joint corner and the motor corner to obtain the motor corner error.
In one embodiment, referring to fig. 7, the system further includes a calibration module 50, configured to couple the motor rotation angle corresponding to each compensated joint to obtain a compensated joint rotation angle; based on a kinematic model between the joints of the mechanical arm, solving a positive solution of the compensated joint corner to obtain a compensated actual pose; and verifying whether the actual pose is qualified or not through the deviation value between the actual pose and the target pose.
In one embodiment, verifying whether the actual pose is qualified by the deviation value between the actual pose and the target pose comprises: if the deviation value is less than or equal to a preset threshold value, the actual position is qualified; and if the deviation value is larger than the preset threshold value, taking the compensated joint rotation angle as a new theoretical joint rotation angle, re-determining the motor rotation angle error based on the new theoretical joint rotation angle, and performing error compensation on the motor.
The modules in the robot joint coupling error compensation device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent of a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a control terminal of a robot arm, and the internal structure thereof may be as shown in fig. 8. The computer device comprises a processor, a memory, and a communication interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a method for compensating for joint coupling errors of a robot arm.
Those skilled in the art will appreciate that the architecture shown in fig. 8 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, which includes a memory and a processor, where the memory stores a computer program, and the processor executes the computer program to implement any one of the above-described robot joint coupling error compensation methods. For a detailed description, reference is made to the corresponding description of the method, which is not repeated herein.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and the computer program is executed by a processor to implement any one of the above-described robot joint coupling error compensation methods. The detailed description refers to the corresponding description of the method, and is not repeated herein.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, databases, or other media used in the embodiments provided herein can include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high-density embedded nonvolatile Memory, resistive Random Access Memory (ReRAM), magnetic Random Access Memory (MRAM), ferroelectric Random Access Memory (FRAM), phase Change Memory (PCM), graphene Memory, and the like. Volatile Memory can include Random Access Memory (RAM), external cache Memory, and the like. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), for example. The databases referred to in various embodiments provided herein may include at least one of relational and non-relational databases. The non-relational database may include, but is not limited to, a block chain based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing based data processing logic devices, etc., without limitation.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, and these are all within the scope of protection of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.
Claims (10)
1. A mechanical arm joint coupling error compensation method is characterized by comprising the following steps:
obtaining theoretical motor rotation angles corresponding to all joints based on the target pose of the tail end of the mechanical arm;
determining the transmission chain gap error of each joint driving gear according to the steering of the theoretical motor corner;
respectively obtaining deflection errors of the tail ends of the joints and displacement errors generated by tooth gaps based on the transmission chain gap errors, and obtaining coupling errors generated by rigid-flexible coupling of the joints based on the deflection errors of the tail ends of the joints and the displacement errors generated by the tooth gaps;
and decoupling the coupling errors to obtain motor rotation angle errors corresponding to each joint, and performing error compensation on the motor based on the motor rotation angle errors.
2. The method of claim 1, wherein the obtaining the theoretical motor rotation angle corresponding to each joint based on the target pose of the end of the mechanical arm comprises:
converting the target pose into a theoretical joint corner of each joint based on a kinematic model between the joints of the mechanical arm;
and decoupling the theoretical joint corners based on the coupling relationship between the joint corners and the motor corners to obtain the theoretical motor corners corresponding to the joints.
3. The method of claim 1, wherein determining a drive chain clearance error for each articulation drive gear based on the theoretical motor turn direction comprises:
judging whether the motor is reversed or not according to the theoretical motor rotation angle, and judging whether the transmission chain clearance error exists in each joint driving gear or not:
if the reversing occurs, the corresponding joint driving gear has the transmission chain gap error, and if the reversing does not occur, the corresponding joint driving gear does not have the transmission chain gap error.
4. The method of claim 1, wherein the deriving deflection errors and backlash-induced displacement errors for each joint end, respectively, based on the drive chain backlash error comprises:
determining the deflection value generated by each group of gears according to the transmission chain gap error, and obtaining the deflection error of the tail end of each joint according to the deflection value generated by each group of gears;
and obtaining the displacement error generated by the tooth clearance at the tail end of each joint according to the transmission chain clearance error and the arm length from each joint to the driving motor.
5. The method of claim 1, wherein the decoupling the coupling error to obtain a motor rotation angle error for each joint comprises:
converting the coupling error into a joint corner error based on a kinematic model between mechanical arm joints;
and decoupling the joint corner error based on the coupling relation between the joint corner and the motor corner to obtain the motor corner error.
6. The method according to any one of claims 1 to 5, wherein after the error compensation of the motor based on the motor rotation angle error, the method further comprises:
coupling the motor corners corresponding to the compensated joints to obtain compensated joint corners;
based on a kinematic model between the joints of the mechanical arm, solving a positive solution of the compensated joint corner to obtain a compensated actual pose;
and verifying whether the actual pose is qualified or not through the deviation value between the actual pose and the target pose.
7. The method of claim 6, wherein the verifying that the actual pose is qualified by a bias value between the actual pose and the target pose comprises:
if the deviation value is smaller than or equal to a preset threshold value, the actual pose is qualified;
and if the deviation value is larger than a preset threshold value, taking the compensated joint rotation angle as a new theoretical joint rotation angle, re-determining the motor rotation angle error based on the new theoretical joint rotation angle, and performing error compensation on the motor.
8. An apparatus for compensating for a joint coupling error of a robot arm, the apparatus comprising:
the pose module is used for obtaining theoretical motor turning angles corresponding to all joints based on the target pose of the tail end of the mechanical arm;
the judging module is used for determining the transmission chain gap error of each joint driving gear according to the steering of the theoretical motor rotating angle;
the detection module is used for respectively obtaining deflection errors of the tail ends of the joints and displacement errors generated by tooth gaps based on the transmission chain gap errors, and obtaining coupling errors generated by rigid-flexible coupling of the joints based on the deflection errors of the tail ends of the joints and the displacement errors generated by the tooth gaps;
and the compensation module is used for decoupling the coupling errors to obtain motor rotation angle errors corresponding to all joints, and performing error compensation on the motor based on the motor rotation angle errors.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any one of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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