CN115716265A - Robot double-arm collision neural reflex control method - Google Patents
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Abstract
The invention discloses a robot double-arm collision neural reflex control method, which comprises the steps of firstly respectively calculating space curves where two mechanical arms are located; respectively collecting a plurality of coordinate points on a space curve, wherein the distance between adjacent coordinate points on the same space curve is equal to the sampling length, respectively containing the coordinate points collected on the space curve where the two mechanical arms are located into the first point array and the second point array, and corresponding the coordinate points to the arm lever where the two mechanical arms are located; subtracting the coordinate points in the first point array and the coordinate points in the second point array in a one-to-one correspondence manner to obtain difference values respectively, and finally obtaining the minimum difference value; calculating in real time to obtain the impact distance between the arm levers of the two mechanical arms, and comparing the minimum difference with the impact distance between the corresponding arm levers; and when the minimum difference value is smaller than the impact distance of the corresponding arm lever, outputting a neural reflection signal. The invention can pre-judge the collision of the two arms in advance while the two arms work coordinately, and has strong adaptability, safety and reliability.
Description
Technical Field
The invention relates to a robot control technology, in particular to a robot double-arm collision neural reflex control method.
Background
With the rapid development of economic construction in China, a large number of double-arm robots are applied. However, the existing robot dual-arm control methods are all the dual-arm control methods that respectively control the operation of single arms, are only assembled together, and are not really synergistic.
The double-arm collision control method is an important part of a double-arm control mode of a robot, and the existing double-arm collision control methods mainly comprise two types: the first is based on torque sensor detection; the second is collision detection based on a geometric model, and collision detection of an actual model surrounded by a basic geometric body, for example, a double-arm self-collision detection method disclosed in the Chinese patent No. 202010123225.1 belongs to the second.
The double-arm collision control method has the following defects:
1. the first torque sensor-based detection method is too costly and has installation problems, and is not necessarily applicable to all existing robots. When the collision is detected, the collision actually occurs, and the prevention effect cannot be achieved.
2. The collision precision of the second collision detection method based on the geometric model is required to depend on the tightness degree of the enveloped model and the actual model, the calculation difficulty is high, errors such as artificial mistakes or calculation programming can occur, and the control risk of the control method is increased.
Disclosure of Invention
The invention aims to solve the technical problem of providing a robot double-arm collision neural reflex control method, which can pre-judge the collision of double arms in advance while the double arms work coordinately, and has strong adaptability, safety and reliability.
To solve the technical problems, the technical scheme adopted by the invention is as follows:
a robot double-arm collision neural reflex control method is characterized by comprising the following steps of:
the method comprises the following steps: for the two mechanical arms, respectively obtaining the rotating angle of each joint and the distance between the axes of the adjacent joints, thereby respectively calculating the space curves of the two mechanical arms;
step two: respectively acquiring a plurality of coordinate points on a space curve according to a set sampling length, wherein the distance between adjacent coordinate points on the same space curve is equal to the sampling length, respectively incorporating the coordinate points acquired on the space curve where two mechanical arms are located into a first point array and a second point array, and corresponding the coordinate points to the arm lever where the two mechanical arms are located;
step three: subtracting coordinate points in the first point array and coordinate points in the second point array in a one-to-one correspondence manner to obtain difference values respectively, and finally obtaining the minimum difference value;
step four: calculating in real time to obtain the impact distance between the arm levers of the two mechanical arms, and comparing the minimum difference with the impact distance between the corresponding arm levers; and when the minimum difference value is smaller than the impact distance of the corresponding arm lever, outputting a neural reflection signal.
Optionally, the method for calculating the impact distance in step four includes: and obtaining the inertia of the shaft of each joint, obtaining the rotating angular speed of each joint in real time, calculating the deceleration distance of each section of arm rod through the inertia and the rotating angular speed, and adding the deceleration distance of the two sections of arm rods corresponding to the minimum difference value, the maximum radius of the two mechanical arms and a set threshold value to obtain the impact distance.
Optionally, the method for calculating the inertia of the axis corresponding to the joint includes: and respectively straightening the two mechanical arms horizontally, wherein the axis of each joint is also in a horizontal state, obtaining the current of the corresponding joint in balance, solving the corresponding weight value through the current, and calculating to obtain the corresponding inertia according to the distance between the weight value and the gravity center point of the adjacent joint.
Optionally, the inertia is calculated before step one.
Optionally, the method for obtaining the minimum difference in the third step includes: firstly, subtracting a first coordinate point in a first point array from a first coordinate point in a second point array to obtain a difference value, and storing the difference value; then, comparing the difference value subtracted every time with the stored difference value, and storing the smaller difference value; after the final subtraction is completed, the stored difference will be the minimum difference.
Optionally, the control method operates independently in the control system of the robot, and the neural reflection signal output by the control method has a higher priority than other control signals in the control system of the robot.
Alternatively, the angle of rotation of each joint is detected by an encoder provided in the joint.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention realizes the prejudgment of collision risks by calculating the data such as the rotation angle of the joints of the mechanical arm, the distance between the axes and the like, sends out anti-collision early warning and prevents the collision of both arms in advance. It need not to set up torque sensor, and is with low costs, and can not appear the installation problem.
The method is used for predicting the collision risk in real time according to the data such as the space curve where the mechanical arm is located, is simpler in calculation, can better avoid the occurrence of artificial errors of the collision detection method based on the geometric model in the background technology, and is more reliable and safer in control.
2. Because inertia isoparametric precision is high, can not have the collision when sending out the actual stop of alarm, stopping distance passes through the threshold value decision, stops the precision and takes the millimeter level, stops effect and contact collision control system and does not have the difference, has following advantage than traditional collision formula collision control system: the collision alarm is obtained, and then the actual damage of the contact property does not exist, and the traditional collision type collision control system is in actual collision, and the inevitable contact damage such as paint falling, scraping, brake loosening and the like can occur.
3. The control method of the invention can be made into a hardware circuit, independently operated or embedded into other control modes, and solves the problems of complicated software programming and artificial setting errors. When the circuit is made into a hardware circuit, the response speed is high, zero delay is made in principle, and the delay problem of software operation is solved.
4. The invention is superior to the traditional single-arm independent operation mode, has better harmony and solves the problem that the traditional control is not suitable for a double-arm robot.
Drawings
FIG. 1 is a block flow diagram of a control method of the present invention;
FIG. 2 is a torque diagram corresponding to the rotational speed of the joint;
FIG. 3 is a schematic diagram of a first implementation of the control method of the present invention;
fig. 4 is a schematic diagram of a second implementation of the control method of the present invention.
Detailed Description
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
The invention is further described below with reference to examples.
The embodiment is as follows:
the control method of the invention can be designed into a hardware circuit, and can also be designed into software to be embedded into other control modes. Because the two arms are gathered into one brain (controller), the neural emission control mode designed by the human-like two arms is superior to the traditional single-arm independent operation mode, the coordination is better, and the neural emission control method is suitable for a two-arm robot system.
The robot 1 related to the embodiment is provided with two mechanical arms 2, the two mechanical arms 2 are respectively arranged on the left side and the right side, the mechanical arms 2 are respectively provided with arm rods 3 connected together through joints 4, each joint 4 is provided with a shaft, each joint 4 can rotate, the number of the joints 4 and the number of the arm rods 3 are multiple, and the robot 1 is designed according to the actual robot 1.
The robot double-arm collision neural reflex control method comprises the following steps:
the method comprises the following steps: for the two mechanical arms, respectively obtaining the rotating angle of each joint and the distance between the axes of the adjacent joints, thereby respectively calculating the space curves of the two mechanical arms;
wherein, the angle rotated by each joint is detected by an encoder arranged in the joint.
The specific method of the first step is as follows:
the encoder is an absolute value encoder, the number of 1 turn of the absolute value encoder is 360 degrees, the corresponding reading of one turn of the absolute value encoder is 1-N, and if the number of the encoder is T, the angle A =360/N T rotated by the joint can be obtained.
The distance between the axes of the adjacent joints is fixed and is a straight line distance, and can be measured from a drawing or actually measured. The space Curve in which the robot arm is located, which is obtained as described above, has a number of axes and a number of segments, which are named as cut-N, and the expression is (x-x 0)/a = (y-y 0)/b = (z-z 0)/c, where (a, b, c) is a direction vector.
Step two: respectively collecting a plurality of coordinate points on a space curve according to a set sampling length, wherein the distance between adjacent coordinate points on the same space curve is equal to the sampling length, respectively containing the coordinate points collected on the space curve where two mechanical arms are positioned into a first point array and a second point array, namely the first point array corresponds to a first mechanical arm, the second point array corresponds to a second mechanical arm, and the coordinate points correspond to an arm lever where the second mechanical arm is positioned; the sampling length can be set in a control system, and is written and guided into a circuit by using a circuit transfer function, the sampling precision is influenced by the size of the sampling length by controlling the function, and the smaller the sampling length is, the more coordinate points are collected and the higher the precision is;
the second step is a specific method as follows:
the coordinate points can be expressed as (X1, Y1, Z1) to (XN, YN, ZN). The point Array can be expressed as Array [0.. N1,0.. N2,0.. N3], wherein N1 represents a mechanical arm, N2 represents a joint, N3 represents a serial number of coordinate points, and each expression Array [0.. N1,0.. N2,0.. N3] corresponds to one coordinate point; because the robot has two mechanical arms, the value of N1 is 0 and 1, N1 of the coordinate point in the first point array is 0, and N1 of the coordinate point in the second point array is 1;
for example: array [0,0,0] represents a first coordinate point on the arm bar to which the first joint of the first robot arm is connected; array [1,0,0] represents a first coordinate point on the arm bar to which the first joint of the second robot arm is attached. The arm rod connected in front of the joint is related to the joint, so that according to N2, the arm rod on which the coordinate point is located can be known.
Step three: subtracting coordinate points in the first point array and coordinate points in the second point array in a one-to-one correspondence manner to obtain difference values respectively, and finally obtaining the minimum difference value;
the method for obtaining the minimum difference value comprises the following steps: firstly, subtracting a first coordinate point in a first point array from a first coordinate point in a second point array to obtain a difference value, and storing the difference value; then, comparing the difference value subtracted every time with the stored difference value, and storing the smaller difference value; after the final subtraction is completed, the stored difference will be the minimum difference.
The third specific method comprises the following steps:
the first coordinate point Array [0,0,0] in the first Array of points is subtracted from the first coordinate point Array [1,0,0] in the second Array of points, according to the distance formula:
d＝√[(x1-x2)^2+(y1-y2)^2+(z1-z2)^2]，
finding the difference, i.e. the distance d1, and writing the value of d1 into dmix;
then, according to the same method, subtracting a first coordinate point Array [0,0,0] in the first point Array from a second coordinate point Array [1,0,1] in the second point Array to obtain a difference value, namely, a distance d2;
comparing the value of d2 with the value in dmix, and if the value of d2 is less than the value in dmix, clearing the original value in dmix and writing the value of d2 into dmix;
and so on, until all the coordinate points in the first point array and the second point array are subtracted, the value of dmix is the minimum difference, that is, the minimum distance.
Step four: calculating in real time to obtain the impact distance between the arm levers of the two mechanical arms, and comparing the minimum difference with the impact distance between the corresponding arm levers; and when the minimum difference value is smaller than the impact distance of the corresponding arm lever, outputting a neural reflection signal, wherein the neural reflection signal is a collision alarm signal. When the control system of the robot receives the nerve reflection signal, an alarm is sent out and the action is stopped. And when the minimum difference is larger than the impact distance of the corresponding arm lever, namely, no impact risk exists, the step is returned to the step for repeated operation, and the cyclic inspection is continuously carried out.
The method for calculating the impact distance comprises the following steps: and obtaining the inertia of the shaft of each joint, obtaining the rotating angular speed of each joint in real time, calculating the deceleration distance of each section of arm rod through the inertia and the rotating angular speed, and adding the deceleration distance of the two sections of arm rods corresponding to the minimum difference value, the maximum radius of the two mechanical arms and a set threshold value to obtain the impact distance. The specific value of the threshold is obtained from empirical values.
The two sections of arm rods corresponding to the minimum difference are as follows: the minimum difference is obtained by subtracting two coordinate points, and the arm rods corresponding to the two coordinate points are the two sections of arm rods corresponding to the minimum difference.
The inertia of the axis corresponding to the joint is calculated by the following method: and respectively straightening the two mechanical arms horizontally, wherein the axis of each joint is also in a horizontal state, obtaining the current of the corresponding joint during balance, calculating a corresponding weight value through the current, wherein the weight value is the weight of the mechanical arm behind the corresponding joint, and calculating to obtain the corresponding inertia according to the weight value and the distance between the gravity center points of the adjacent joints.
When the tool is installed at the front end of the mechanical arm, the inertia of the tool can be calculated through the inertia calculation method, and the precision is extremely high. The tool is a tool used by the robot during working, for example: the front end of the mechanical arm of the gluing robot is provided with various glue guns and the like.
The inertia is calculated before the step one, that is, when there is no inertia value, the inertia calculation method is executed to calculate the inertia.
The fourth specific method comprises the following steps:
the specific calculation method of the inertia comprises the following steps: respectively horizontally straightening the two mechanical arms, and enabling the axis of each joint to be in a horizontal state, obtaining current I when the corresponding joint is balanced at the moment, wherein I/IRC = W/WRC, the rated current IRC and the rated power WRC are fixed parameters, and searching through factory data of the joint, so that the weight Wn is obtained through the current I when the joint is balanced, wherein n is an axis number;
the center of the axis of each joint is taken as a gravity point Gn, where n is the number of the axis, and the spatial three-dimensional coordinates of Gn can be obtained from a spatial curve (XGN, YGn, ZGn).
The distance between adjacent joints is then:
Ln＝√[(XGn-XGn -1 )^2+(YGn-Y Gn -1 )^2+(ZGn-ZGn -1 )^2]，
wherein n is the number of the axis.
Calculating inertia of an axis of each joint according to a formula inertia SIn = Wn × Ln ^2, wherein n is an axis number.
The rotation angular velocity of each joint is obtained in real time, and the rotation angular velocity As = (At 1-A T)/T is obtained according to the conversion quantity of the angle value in one second; then, the moment Fn = Sln As.
The value obtained by the moment Fn is compared with a coordinate graph shown in fig. 2, a vertical axis in the coordinate graph represents the moment Fn, a horizontal axis represents the rotation angular velocity, and after the value of the horizontal axis is correspondingly obtained by the value of the moment Fn, the deceleration distance dmin __ Array [ N1, N2] can be calculated, and the Array [ N1, N2] is the corresponding arm.
The threshold value T is obtained from empirical values. If T =0, the robot sends out a neural reflection signal through the control method, so that when the robot arm stops, the robot arm actually collides, therefore, T needs to take a value larger than 0, units of different systems T can be freely obtained in a transfer function, T corresponds to a unit mm in the embodiment, when T =1, the robot sends out a neural reflection signal through the control method, so that when the robot arm stops, two robot arms stop at a distance of 1mm, collision does not actually occur, and the stopping precision is in millimeter level.
The maximum radius D of the robot arm can be measured from the drawing, or actually measured.
Then, the impact distance dmin is:
dmin＝dmin__Array[0,N2]+dmin__Array[1,N2]+2D+T；
wherein, array [0, N2] represents the minimum difference corresponding to the arm of the first mechanical arm, array [0, N2] represents the minimum difference corresponding to the arm of the second mechanical arm, and the value of N2 in Array [0, N2] and Array [0, N2] is not necessarily the same, and is obtained according to the arm related to the minimum difference.
The difference between the impact distance dmin and the minimum difference dmix is monitored in real time:
Dv＝dmin-dmix；
when Dv is greater than 0, it means that the minimum difference is less than the impact distance, indicating that a collision is expected, and a neural reflex signal is output.
The control method is placed in a single space or independently operates in a background in a control system of the robot, interference of other programs is avoided, and the priority of the neural reflection signal output by the control method is higher than that of other control signals in the control system of the robot. And an actuator in a control system of the robot cuts off a power supply and opens a band-type brake or controls a servo motor of the joint in the opposite direction by judging whether the neural reflection signal result is true or false.
The actuator in the control system of the robot can be any output object such as a relay contactor internal contracting brake, and the like, and is not the scope of the invention which needs to be discussed. And when the neural reflection signal result = true is waited, the task of stopping the robot is higher than other tasks or the robot is accessed to a servo system in parallel by triggering interruption or background execution and other modes.
Fig. 1 is a block flow diagram of the control method of the present embodiment, and the general flow is as follows:
after the robot is started, firstly, reading the inertia of the axis of each joint, if the inertia data is lacked, executing an inertia calculation method, and calculating to obtain the inertia data;
after the inertia data are read, the control method is executed from the beginning of the step, the data of each encoder are read, the rotating angle of each joint is obtained, and if the data of the encoders cannot be read at the moment, the neural reflex signals are directly output; then, respectively calculating the space curves of the two mechanical arms according to the distance between the axes of the adjacent joints;
then, according to the set sampling length, coordinate points are collected and respectively and correspondingly contained in the first point array and the second point array, and the coordinate points correspond to the arm levers where the coordinate points are located; subtracting the coordinate points of the first point array and the second point array in a one-to-one correspondence manner, and comparing the obtained minimum difference value with an impact distance, wherein the impact distance is obtained by adding the deceleration distance of two corresponding arm rods, the maximum radius of two mechanical arms and a set threshold value, and the deceleration distance is obtained by calculating inertia and rotation angular speed;
finally, if the minimum difference is smaller than the impact distance of the corresponding arm lever, namely the impact is expected, a neural reflection signal is output; if the minimum difference is larger than the impact distance of the corresponding arm lever, namely, no impact risk exists, the operation is repeated by returning to the above step, and the cyclic check is continuously carried out.
The method for realizing the double-arm collision neural reflex control of the robot can be realized in various ways, and the following two ways are listed:
the first implementation mode comprises the following steps: as shown in fig. 3, the control method can be stored by a processor as a background program for execution, and is divided into a Main program execution memory area and a background interrupt program neural reflex control memory area, which are separately executed and output to an actuator of a control system of the robot.
The second implementation mode comprises the following steps: as shown in fig. 4, the control method is implemented as a control circuit, and the control circuit is outputted in parallel to an actuator of a control system of the robot.
The above-described embodiments of the present invention are not intended to limit the scope of the present invention, and the embodiments of the present invention are not limited thereto, and various other modifications, substitutions and alterations can be made to the above-described structure of the present invention without departing from the basic technical concept of the present invention as described above, according to the common technical knowledge and conventional means in the field of the present invention.
Claims (7)
1. A robot double-arm collision neural reflex control method is characterized by comprising the following steps of:
the method comprises the following steps: for the two mechanical arms, respectively obtaining the rotating angle of each joint and the distance between the axes of the adjacent joints, and accordingly respectively calculating the space curves of the two mechanical arms;
step two: respectively acquiring a plurality of coordinate points on the space curve according to a set sampling length, wherein the distance between adjacent coordinate points on the same space curve is equal to the sampling length, the coordinate points acquired on the space curve where the two mechanical arms are located are respectively contained in a first point array and a second point array, and the coordinate points are corresponding to the arm lever where the two mechanical arms are located;
step three: subtracting coordinate points in the first point array and coordinate points in the second point array in a one-to-one correspondence manner to obtain difference values respectively, and finally obtaining the minimum difference value;
step four: calculating in real time to obtain the impact distance between the arm levers of the two mechanical arms, and comparing the minimum difference with the impact distance between the corresponding arm levers; and when the minimum difference value is smaller than the impact distance of the corresponding arm lever, outputting a neural reflection signal.
2. The robot double-arm collision neuroreflex control method according to claim 1, characterized in that: the method for calculating the impact distance in step four is as follows: and obtaining the inertia of the shaft of each joint, obtaining the rotating angular speed of each joint in real time, calculating the deceleration distance of each section of arm rod according to the inertia and the rotating angular speed, and adding the deceleration distance of the two sections of arm rods corresponding to the minimum difference, the maximum radius of the two mechanical arms and a set threshold value to obtain the impact distance.
3. The robot double-arm collision neuroreflex control method according to claim 2, characterized in that: the inertia of the axis of the corresponding joint is calculated by the following method: and respectively horizontally straightening the two mechanical arms, and enabling the axis of each joint to be in a horizontal state, obtaining the current of the corresponding joint during balance, calculating a corresponding weight value through the current, and calculating to obtain a corresponding inertia according to the distance between the weight value and the gravity center point of the adjacent joint.
4. The robot double-arm collision neuroreflex control method according to claim 3, characterized in that: the inertia is calculated before step one.
5. The robot double-arm collision neuroreflex control method according to claim 1, characterized in that: the method for obtaining the minimum difference value in the third step comprises the following steps: firstly, subtracting a first coordinate point in a first point array from a first coordinate point in a second point array to obtain a difference value, and storing the difference value; then, comparing the difference value subtracted every time with the stored difference value, and storing the smaller difference value; after the final subtraction is completed, the stored difference will be the minimum difference.
6. The robot double-arm collision neuroreflex control method according to claim 1, characterized in that: the control method operates independently in the control system of the robot, and the neural reflection signal output by the control method has higher priority than other control signals in the control system of the robot.
7. The robot double-arm collision neuroreflex control method according to claim 1, characterized in that: the angle of rotation of each joint is detected by an encoder arranged in the joint.
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| CN113696187A (en) * | 2021-10-22 | 2021-11-26 | 成都飞机工业（集团）有限责任公司 | Anti-collision method suitable for double-robot system |
| CN113799143A (en) * | 2021-11-18 | 2021-12-17 | 广东隆崎机器人有限公司 | Safe cooperation method and device of multiple robots in working area |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116394266A (en) * | 2023-06-08 | 2023-07-07 | 国网瑞嘉(天津)智能机器人有限公司 | Robot self-collision processing method and device, robot and medium |
| CN116394266B (en) * | 2023-06-08 | 2023-10-20 | 国网瑞嘉(天津)智能机器人有限公司 | Robot self-collision processing method and device, robot and medium |
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