CN115716265B - Robot double-arm collision nerve reflex control method - Google Patents
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Abstract
The invention discloses a control method for the collision nerve reflection of two arms of a robot, which comprises the steps of firstly, respectively calculating space curves of two mechanical arms; respectively acquiring 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 accommodating the coordinate points acquired on the space curve where two mechanical arms are positioned into a first point array and a second point array, and further corresponding the coordinate points to the arm levers where the coordinate points are positioned; subtracting the coordinate points in the first point array from the coordinate points in the second point array one by one to obtain difference values respectively, and finally obtaining the minimum difference value; calculating in real time to obtain the impact distance between the arm bars of the two mechanical arms, and comparing the minimum difference value with the impact distance between the corresponding arm bars; and outputting a neural reflex signal when the minimum difference is smaller than the impact distance of the corresponding arm lever. The invention can pre-judge the collision of the two arms in advance while the two arms work cooperatively, and has strong adaptability and safety and reliability.
Description
Technical Field
The invention relates to a robot control technology, in particular to a method for controlling the collision nerve reflection of a double arm of a robot.
Background
With the rapid development of economic construction in China, a large number of double-arm robots are applied. However, the existing two-arm control method of the robot is to control the respective operations of the single arms respectively, and the two-arm control method is not really a cooperative two-arm control method.
The two-arm collision control method is an important part of a two-arm control mode of a robot, and two main types of existing two-arm collision control methods are adopted: the first is based on torque sensor detection; the second type is collision detection based on a geometric model, and collision detection of surrounding an actual model by using a basic geometric body, such as a double-arm self-collision detection method disclosed in China patent No. 202010123225.1, belongs to the second type.
The above-described two-arm collision control method has the following disadvantages:
1. the first detection method based on the moment sensor is high in cost, has installation problems, and is not necessarily applicable to all existing robots. When collision is detected, the collision actually happens, and the prevention effect cannot be achieved.
2. The collision precision of the second collision detection method based on the geometric model needs to depend on the tightness degree of the model after enveloping and the actual model, the calculation difficulty is high, errors such as artificial mistakes or calculation programming and the like 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 the control method for the nerve reflection of the collision of the double arms of the robot, which can pre-judge the collision of the double arms in advance while the double arms work in a coordinated manner, and has strong adaptability, safety and reliability.
The technical scheme adopted by the invention is as follows:
the utility model provides a robot both arms collision nerve reflection control method, the robot is equipped with two robotic arms, and robotic arm is equipped with the armed lever that links together through the joint respectively, its characterized in that includes following steps:
step one: for the two mechanical arms, respectively obtaining the rotating angle of each joint and the distance between the axes of the adjacent joints, so as to respectively calculate the space curves of the two mechanical arms;
step two: according to the set sampling length, respectively acquiring 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 incorporating the coordinate points acquired on the space curve where two mechanical arms are positioned into a first point array and a second point array, and further corresponding the coordinate points to the arm rods where the coordinate points are positioned;
step three: subtracting the coordinate points in the first point array from the coordinate points in the second point array one by one 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 bars of the two mechanical arms, and comparing the minimum difference value with the impact distance between the corresponding arm bars; and outputting a neural reflex signal when the minimum difference is smaller than the impact distance of the corresponding arm lever.
Optionally, the calculating method of the impact distance in the fourth step includes: the inertia of the shaft of each joint is obtained, the rotation angular speed of each joint is obtained in real time, the deceleration distance of each arm rod section is calculated through the inertia and the rotation angular speed, and the impact distance is obtained by adding the deceleration distance of the two arm rods corresponding to the minimum difference value, the maximum radius of the two mechanical arms and the set threshold value.
Optionally, the method for calculating the inertia of the axis of the corresponding joint includes: and respectively horizontally straightening the two mechanical arms, wherein the axle center of each joint is also in a horizontal state, at the moment, obtaining the current of the corresponding joint in balance, obtaining the corresponding weight value through the current, and calculating the corresponding inertia according to the distance between the weight value and the gravity center of the adjacent joint.
Optionally, the calculation of inertia is performed before step one.
Optionally, the method for obtaining the minimum difference in the third step is as follows: 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, each subtracted difference value is compared with the stored difference value, and the smaller difference value is stored; after all the subtractions are completed, the stored difference will be the minimum difference.
Optionally, the control method operates independently in a control system of the robot, and the control method outputs a neural reflection signal with a higher priority than other control signals in the control system of the robot.
Alternatively, the angle of rotation of each joint is obtained by detection by an encoder provided in the joint.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the collision risk is prejudged by calculating the data such as the rotation angle of the joints of the mechanical arm, the distance between the axes and the like, the anti-collision early warning is sent out, and the collision of the two arms is prevented in advance. The device does not need to be provided with a moment sensor, has low cost and can not cause installation problems.
The method for predicting the collision risk based on the space curve of the mechanical arm is capable of predicting the collision risk based on the space curve of the mechanical arm in real time, is simpler in calculation, can better avoid the occurrence of human errors of the collision detection method based on the geometric model in the background art, and is more reliable and safer in control.
2. Because the precision of parameter such as inertia is high, can not collide when sending out the alarm and actually stop, and stopping distance passes through threshold value and decides, and stopping precision area millimeter level, stopping effect and contact collision control system are indiscriminate, have following advantage than traditional collision formula collision control system: the traditional collision type collision control system is actually collided, and unavoidable contact damage such as paint dropping, scraping, band-type brake loosening and the like can occur.
3. The control method of the invention can be made into a hardware circuit, and can be independently operated or embedded into other control modes, thereby solving the problems of complicated software programming and artificial setting errors. When the hardware circuit is made, the response speed is high, zero delay is basically made, and the problem of software operation delay is solved.
4. The invention is superior to the traditional single-arm independent operation mode, has better coordination and solves the problem that the traditional control is not suitable for the double-arm robot.
Drawings
FIG. 1 is a flow chart of a control method of the present invention;
FIG. 2 is a torque diagram corresponding to joint rotational speed;
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, a number means one or more, a number means two or more, and greater than, less than, exceeding, etc. are understood to not include the present number, and above, below, within, etc. are understood to include the present number. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed 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 explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present invention can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.
The invention is further described below with reference to examples.
Examples:
the control method of the invention can be designed into a hardware circuit or can be designed into software embedded into other control modes. Because the two arms are summarized into one brain (controller), the human-like double-arm design nerve emission control mode is superior to the traditional single-arm independent operation mode, has better coordination and is suitable for a double-arm robot system.
The robot 1 according to this embodiment is provided with two mechanical arms 2, the two mechanical arms 2 are respectively arranged on the left and right sides, the mechanical arms 2 are respectively provided with arm bars 3 connected together through joints 4, the joints 4 are provided with shafts, each joint 4 is rotatable, the number of the joints 4 and the number of the arm bars 3 are multiple, and the robot is determined according to the design of the actual robot 1.
The method for controlling the collision nerve reflex of the double arms of the robot in the embodiment comprises the following steps:
step one: for the two mechanical arms, respectively obtaining the rotating angle of each joint and the distance between the axes of the adjacent joints, so as to respectively calculate the space curves of the two mechanical arms;
wherein the angle of rotation of each joint is obtained by detection by an encoder provided in the joint.
One specific method of step one is as follows:
the encoder is an absolute value encoder, 1 circle of the absolute value encoder is 360 degrees, one circle of corresponding reading of the absolute value encoder is 1-N, and the value of the encoder is assumed to be T, so that the angle A=360/N×T of the rotation of the joint can be obtained.
The distance between the axes of adjacent joints is fixed, is a straight line distance and can be measured from a drawing or actually measured. The space Curve where the robot arm is located has a plurality of axes, which are named Curve-N, and the expression is (x-x 0)/a= (y-y 0)/b= (z-z 0)/c, wherein (a, b, c) is a direction vector.
Step two: according to the set sampling length, respectively acquiring 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 bringing the coordinate points acquired 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 the first mechanical arm, the second point array corresponds to the second mechanical arm, and the coordinate points correspond to arm rods where the coordinate points are positioned; the sampling length can be set in the control system, the sampling length is written into a circuit by using a circuit transfer function, the sampling precision is affected by the control function, and the smaller the sampling length is, the more the acquired coordinate points are, the higher the precision is;
one specific method of the second step is as follows:
the coordinate points may be expressed as (X1, Y1, Z1) to (XN, YN, ZN). The point Array may be expressed as Array [0..n1,0..n2,0..n3], where N1 in the expression represents a robot arm, N2 represents a joint, N3 represents a sequence number of coordinate points, and each expression Array [0..n1,0..n2,0..n3] corresponds to one coordinate point; because the robot is provided with two mechanical arms, the value of N1 is 0 and 1, the N1 of the coordinate point in the first point array is 0, and the N1 of the coordinate point in the second point array is 1;
for example: array [0, 0] represents a first coordinate point on the arm to which a first joint of a first robotic arm is connected; array [1, 0] represents a first coordinate point on the arm to which the first joint of the second robot arm is attached. The arm connected in front of the joint is associated with this joint, and it is then known on which arm the coordinate point is located, based on N2.
Step three: subtracting the coordinate points in the first point array from the coordinate points in the second point array one by one 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, each subtracted difference value is compared with the stored difference value, and the smaller difference value is stored; after all the subtractions are completed, the stored difference will be the minimum difference.
One specific method of the third step is as follows:
subtracting the first coordinate point Array [0, 0] in the first point Array from the first coordinate point Array [1, 0] in the second point Array according to a distance formula:
d＝√[(x1-x2)^2+(y1-y2)^2+(z1-z2)^2]，
obtaining a difference value, namely a distance d1, and writing the value of d1 into dmix;
then, according to the same method, subtracting the first point Array [0, 0] in the first point Array from the 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, if the value of d2 is less than the value in dmix, clearing the 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 dmix is the minimum difference, i.e. the minimum distance.
Step four: calculating in real time to obtain the impact distance between the arm bars of the two mechanical arms, and comparing the minimum difference value with the impact distance between the corresponding arm bars; and outputting a nerve reflection signal when the minimum difference value is smaller than the impact distance of the corresponding arm lever, wherein the nerve reflection signal is an impact alarm signal. When the control system of the robot receives the neural 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 method returns to the above steps to repeatedly run, and the cycle test is continuously carried out.
The method for calculating the impact distance comprises the following steps: the inertia of the shaft of each joint is obtained, the rotation angular speed of each joint is obtained in real time, the deceleration distance of each arm rod section is calculated through the inertia and the rotation angular speed, and the impact distance is obtained by adding the deceleration distance of the two arm rods corresponding to the minimum difference value, the maximum radius of the two mechanical arms and the set threshold value. The specific value of the threshold is obtained from an empirical value.
The two sections of arm levers corresponding to the minimum difference value are: the minimum difference is obtained by subtracting two coordinate points, and the arm bars corresponding to the two coordinate points are the two sections of arm bars corresponding to the minimum difference.
The method for calculating the inertia of the axis of the corresponding joint comprises the following steps: and respectively horizontally straightening the two mechanical arms, wherein the axle center of each joint is also in a horizontal state, at the moment, obtaining the current of the corresponding joint in balance, obtaining a corresponding weight value through the current, wherein the weight value is the weight of the mechanical arm behind the corresponding joint, and calculating the corresponding inertia according to the weight value and the distance between the gravity centers of the adjacent joints.
When the tool is arranged 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 in working, for example: the front end of the mechanical arm of the gluing robot is provided with various glue guns and the like.
The above-mentioned inertia calculation is performed before the first step, that is, when there is no value of inertia, the above-mentioned inertia calculation method is executed first to calculate the inertia.
One specific method of the fourth step is as follows:
the inertia calculation method specifically comprises the following steps: the two mechanical arms are respectively and horizontally straightened, the axle center of each joint is also in a horizontal state, at the moment, the current I of the corresponding joint in balance is obtained, and I/IRC=W/WRC is provided, wherein the rated current IRC and the rated power WRC are fixed parameters, factory data can be checked through the joints, and therefore the weight Wn is obtained through the current I in balance, and n is an axle number;
the spatial three-dimensional coordinates of Gn can be obtained from the spatial curves (XGn, YGn, ZGn) with the center of the axis of each joint as the center of gravity point Gn, where n is the axis number.
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 axis number.
And calculating the inertia of the axes of each joint according to the formula inertia sin=wn=ln≡2, wherein n is the axis number.
Obtaining the rotation angular speed of each joint in real time, and obtaining the rotation angular speed As= (At 1-A T2)/T by the conversion of the angle value for one second; then, torque fn=sln×as.
And comparing the values obtained by the moment Fn with a coordinate diagram shown in fig. 2, wherein the vertical axis in the coordinate diagram represents the moment Fn, the horizontal axis represents the rotation angular velocity, and after the values of the horizontal axis are obtained through the corresponding values of the moment Fn, the deceleration distance dmin __ Array [ N1, N2] can be calculated, and the Array [ N1, N2] is the corresponding arm lever.
The threshold T is obtained from an empirical value. If t=0, the robot sends out a neural reflection signal by the control method, so that when the mechanical arm stops, the mechanical arm actually collides, therefore, T needs to take a value greater than 0, units of different systems T can be freely acquired in the transfer function, the embodiment T corresponds to unit mm, when t=1, the robot sends out the neural reflection signal by the control method, so that when the mechanical arm stops, two mechanical arms stop at a distance of 1mm, no collision actually occurs, and the stopping precision is in millimeter level.
The maximum radius D of the mechanical arm may 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, the Array [0, N2] represents that the minimum difference value corresponds to the arm lever of the first mechanical arm, the Array [0, N2] represents that the minimum difference value corresponds to the arm lever of the second mechanical arm, the values of N2 in the Array [0, N2] and the Array [0, N2] are not necessarily the same, and the values are obtained according to the arm lever related to the minimum difference value.
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, a minimum difference value is smaller than the impact distance, indicating that a collision is expected, and a neural reflection signal is output.
The control method is placed in an independent space or the background is independently operated in a control system of the robot, interference of other programs is avoided, and the priority of the neural reflection signals output by the control method is higher than that of other control signals in the control system of the robot. An actuator in a control system of the robot is used for judging whether a neural reflection signal result is true or false, and when true, the actuator cuts off a power supply, opens a band-type brake or reversely controls a servo motor of a joint.
The actuator in the control system of the robot can be any output object such as a relay contactor band-type brake, and the like, and the scope of the invention needs to be expanded. When waiting for the neural reflection signal result=true, the task of stopping the robot is higher than other tasks by triggering interrupt, background execution and the like, or the tasks are connected in parallel to a servo system.
Fig. 1 is a flow chart of a control method of the present embodiment, and the general flow chart is as follows:
after starting the robot, firstly reading the inertia of the shaft of each joint, and if the data of the inertia is absent, executing an inertia calculation method to calculate and obtain the data of the inertia;
after the data of inertia is obtained by reading, the control method is executed from the beginning of the step, the data of each encoder is read, the rotation angle of each joint is obtained, and if the data of the encoder cannot be read at the moment, a neural reflection signal is directly output; then, according to the distance between the axes of the adjacent joints, respectively calculating the space curves of the two mechanical arms;
then, collecting coordinate points according to the set sampling length, wherein the coordinate points are respectively and correspondingly included 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 coordinate points of the first point array and the second point array in one-to-one correspondence, and comparing the obtained minimum difference with an impact distance, wherein the impact distance is obtained by adding a corresponding deceleration distance of two sections of arm levers, a maximum radius of two mechanical arms and a set threshold value, and the deceleration distance is obtained by calculating inertia and rotational angular speed;
finally, if the minimum difference is smaller than the impact distance of the corresponding arm rod, namely, the impact is expected, a nerve 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 above steps are returned to be repeated, and the cyclic inspection is continuously carried out.
The method for controlling the collision nerve reflection of the double arms of the robot can be realized in various modes, and the following two modes are listed:
the first implementation mode: as shown in fig. 3, the control method can be stored by a processor and used as a background program to be executed, and is divided into a Main program execution memory area and a background interrupt program neural reflection control memory area, and the Main program execution memory area and the background interrupt program neural reflection control memory area are separately cut and output to an executor of a control system of the robot.
The second implementation mode: as shown in fig. 4, the control method is configured as a control circuit, which is output in parallel to an actuator of a control system of the robot.
The above-mentioned 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 all kinds of modifications, substitutions or alterations made to the above-mentioned structures of the present invention according to the above-mentioned general knowledge and conventional means of the art without departing from the basic technical ideas of the present invention shall fall within the scope of the present invention.
Claims (6)
1. The utility model provides a robot both arms collision nerve reflection control method, the robot is equipped with two robotic arms, robotic arms are equipped with the armed lever that links together through the joint respectively, its characterized in that includes following steps:
step one: the method comprises the steps of respectively obtaining the rotating angle of each joint and the distance between the axes of adjacent joints for two mechanical arms, so as to respectively calculate space curves of the two mechanical arms;
step two: according to a set sampling length, a plurality of coordinate points on the space curve are respectively collected, the distance between the adjacent coordinate points on the same space curve is equal to the sampling length, the coordinate points collected 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 also corresponding to the arm levers where the coordinate points are located;
step three: subtracting the coordinate points in the first point array from the coordinate points in the second point array one by one 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 bars of the two mechanical arms, and comparing the minimum difference value with the impact distance between the corresponding arm bars; outputting a neural reflection signal when the minimum difference is smaller than the impact distance of the corresponding arm lever;
the method for calculating the impact distance comprises the following steps: and obtaining the inertia of the shaft of each joint, obtaining the rotation angular speed of each joint in real time, calculating the deceleration distance of each section of arm rod through the inertia and the rotation 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 the set threshold value to obtain the impact distance.
2. The method for controlling the collision nerve reflex of the double arms of the robot according to claim 1, wherein: the method for calculating the inertia of the axis of the corresponding joint comprises the following steps: and respectively horizontally straightening the two mechanical arms, wherein the axle center of each joint is also in a horizontal state, at the moment, obtaining the current of the corresponding joint in balance, obtaining the corresponding weight value through the current, and calculating the corresponding inertia according to the distance between the weight value and the gravity center of the adjacent joint.
3. The method for controlling the collision nerve reflex of the double arms of the robot according to claim 2, wherein: the calculation of the inertia is performed before step one.
4. The method for controlling the collision nerve reflex of the double arms of the robot according to claim 1, wherein: 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, each subtracted difference value is compared with the stored difference value, and the smaller difference value is stored; after all the subtractions are completed, the stored difference will be the minimum difference.
5. The method for controlling the collision nerve reflex of the double arms of the robot according to claim 1, wherein: the control method independently operates in the control system of the robot, and the neural reflection signals output by the control method have higher priority than other control signals in the control system of the robot.
6. The method for controlling the collision nerve reflex of the double arms of the robot according to claim 1, wherein: the angle of rotation of each of the joints is detected by an encoder provided 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 |
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