CN115718973A - Robot contact dynamics characteristic modeling and verifying method - Google Patents
Robot contact dynamics characteristic modeling and verifying method Download PDFInfo
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- CN115718973A CN115718973A CN202110972735.0A CN202110972735A CN115718973A CN 115718973 A CN115718973 A CN 115718973A CN 202110972735 A CN202110972735 A CN 202110972735A CN 115718973 A CN115718973 A CN 115718973A
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Abstract
The invention provides a modeling and verification method for contact dynamics characteristics of a robot. In each control cycle of the industrial robot, the force/moment generated at the tail end of the industrial robot due to contact is obtained through the original data of the six-dimensional force sensor and gravity compensation, and the controller input quantity of the industrial robot is calculated according to the motion performance of the tail end load. The invention realizes the contact dynamics modeling and verification of the robot by utilizing the force and/or moment output in the experimental process and the kinematic data.
Description
Technical Field
The invention relates to a modeling and verification method for contact dynamics characteristics of a robot, which is used for modeling and verifying the contact dynamics characteristics of the robot in a special environment through experiments.
Background
A motion control verification method of a multi-degree-of-freedom robot in a special environment is always a core difficult point in the field of robots and a core problem to be solved urgently. The robot is a highly nonlinear multi-degree-of-freedom system, a pure dynamics simulation system depends on the accuracy of dynamics modeling, and the contact dynamics in the robot operation process is difficult to accurately model, so that the reliability of the simulation result of the contact dynamics of the software system in a special environment is low.
Aiming at the problems, on the basis of the existing robot experiment system, a contact dynamics modeling and verification method of robot motion operation with the large-load industrial robot for assisting motion is provided, so that the complex contact dynamics characteristics of the robot are researched.
Disclosure of Invention
The invention aims to provide a method for modeling and verifying contact dynamics of a robot, which is used for modeling and verifying the contact dynamics of the robot in a special environment through experiments.
The technical scheme of the invention is as follows.
The invention provides a robot contact dynamics experiment system in a first aspect, which comprises a first motion platform, a second motion platform, a robot and an operation object;
the first motion platform and the second motion platform each include a tip having a plurality of degrees of freedom;
the operation object is installed at the tail end of the first motion platform, and a first sensor is installed at the tail end of the first motion platform;
the robot is arranged at the tail end of the second motion platform, and a second sensor is arranged at the tail end of the second motion platform;
the robot is capable of making contact with the operation object, and the first and second sensors are capable of detecting forces and/or moments transmitted from the contact positions to the ends of the first and second motion platforms.
Preferably, the first motion platform and/or the second motion platform is an industrial robot.
Preferably, the first motion platform can drive the operation object to move integrally; the second motion platform can drive the robot to move integrally.
Preferably, the experimental system further comprises a computing device capable of computing controller inputs of the first and second motion platforms based on forces and/or moments of the ends of the first and second motion platforms and the athletic performance that the end loads should have.
Preferably, the computing means is capable of gravity compensating for forces and/or moments transmitted by the contact location to the ends of the first and second motion platforms as detected by the first and second sensors, resulting in end forces and/or moments due to contact only.
Preferably, the ends of the first and second motion platforms have at least 6 degrees of freedom.
The second aspect of the present invention provides a robot contact dynamics modeling method using the robot contact dynamics experiment system according to any one of the first aspect of the present invention, the method including:
in the initial stage, the robot and the operation object are not in contact, and the first sensor and the second sensor only detect the gravity of the load;
in the working stage, the robot is in contact with an operation object, and the robot contact dynamics experiment system detects that forces and/or moments in all directions are subjected to gravity compensation to obtain terminal forces/moments generated only by contact; in each force control period, according to a momentum theorem, the first motion platform and the second motion platform calculate the motions of multiple degrees of freedom at the tail end according to the compensated forces/moments, and finally, the motions are resolved into input values of a joint controller by inverse kinematics;
and in the modeling stage, the robot contact dynamics experiment system outputs force data and motion data of the first sensor and the second sensor in all directions, and accordingly identifies a contact dynamics model of robot operation.
Preferably, the working phase comprises the following steps:
step S1, reading data of a first sensor and a second sensor;
s2, performing gravity compensation on the force and/or moment which is obtained by the first sensor and the second sensor and is transmitted to the tail ends of the first motion platform and the second motion platform from the contact positions, so as to obtain tail end force and/or moment only generated by contact;
s3, according to the momentum theorem, calculating the motion of multiple degrees of freedom at the tail end according to the respective compensated force and/or moment;
s4, resolving the input value of the joint controller by inverse kinematics;
and S5, the joint controller performs servo control on the first motion platform and the second motion platform according to the input value, and the step S1 is switched to.
The third aspect of the present invention provides a robot contact dynamics verification method using the robot contact dynamics experiment system according to any one of the first aspect of the present invention, the method including:
in the initial stage, the robot and the operation object are not in contact, and the first sensor and the second sensor only detect the gravity of the load;
in the working stage, the robot is in contact with an operation object, and the robot contact dynamics experiment system detects that the force/moment in each direction is subjected to gravity compensation to obtain the tail end force/moment only generated by contact; in each force control period, according to a momentum theorem, the first motion platform and the second motion platform calculate the motions of multiple degrees of freedom at the tail end according to the compensated forces and/or moments, and finally, the motions are resolved into input values of a joint controller by inverse kinematics;
and in the verification stage, the robot contact dynamics experiment system outputs force data and motion data of the first sensor and the second sensor in all directions, so that the contact dynamics model of the robot operation is verified.
Preferably, the working phase comprises the steps of:
step S1, reading data of a first sensor and a second sensor;
s2, performing gravity compensation on the force and/or moment which are detected by the first sensor and the second sensor and transmitted to the tail ends of the first motion platform and the second motion platform from the contact positions, so as to obtain tail end force and/or moment only generated by contact;
s3, according to the momentum theorem, calculating the motion of the tail end with 6 degrees of freedom according to the compensated force and/or moment;
s4, resolving the input value of the joint controller by inverse kinematics;
and S5, the joint controller performs servo control on the first motion platform and the second motion platform according to the input value, and the step S1 is switched to.
According to the invention, an industrial robot (degree of freedom > = 6) auxiliary motion mode is adopted, comprehensive simulation of three-dimensional and 6-degree of freedom can be realized in the simulation aspect, and more visual and richer experimental data can be provided for the research of contact dynamics.
Drawings
FIG. 1 is a schematic diagram of a contact dynamics verification system for a robot according to the present invention;
fig. 2 is a general flowchart of robot contact dynamics modeling/verification.
The meaning of the individual reference symbols in the figures is as follows:
1. the robot comprises a first industrial robot, a second industrial robot, a six-dimensional force sensor, a robot, and an operation object.
Detailed Description
Example 1
As shown in fig. 1, the present embodiment provides a robot contact dynamics experiment system including a first industrial robot 1, a second industrial robot 2, a robot 4, and an operation object 5.
The first industrial robot 1 and the second industrial robot 2 each comprise a tip with a plurality of degrees of freedom.
The operation object 5 is mounted on the end of the first industrial robot, and the six-dimensional force sensor 3 is mounted on the end of the first industrial robot.
The robot 4 is mounted at the end of the second industrial robot 2 and the second industrial robot end is mounted with a six-dimensional force sensor 3.
The robot 4 can be brought into contact with the operating object 5, and the two six-dimensional force sensors 3 can detect the force and/or moment transmitted from the contact position to the ends of the first motion platform and the second motion platform, respectively.
The person skilled in the art will understand that the first industrial robot 1 and/or the second industrial robot 2 may also be other heavy-load motion platforms with a degree of freedom of 6 or more, such as large parallel robots, cartesian robots, etc.
In a preferred embodiment, the first industrial robot 1 can move the operation object 5 integrally; the second industrial robot 2 can drive the robot 4 to move integrally.
In a preferred embodiment, the experimental system further comprises a calculation device capable of calculating the controller inputs of the first industrial robot and the second industrial robot based on the forces and/or moments of the ends of the first industrial robot 1 and the second industrial robot 2 and the motion behavior that the end loads should have.
In a preferred embodiment, the computing means is able to gravity compensate for the forces and/or moments transmitted by the contact location to the ends of the first and second motion platforms, as detected by the six-dimensional force sensor 3, resulting in end forces and/or moments due to contact only.
In a preferred embodiment, the ends of the first industrial robot 1 and the second industrial robot 2 have at least 6 degrees of freedom.
Example 2
The present embodiment provides a robot contact dynamics modeling method using the robot contact dynamics experiment verification system according to any one of the first aspect of the present invention, the method including the following steps.
In the initial stage, the robot 4 and the operation object 5 are not in contact with each other, and the six-dimensional force sensor 3 only detects the gravity of the load; at the moment, the load gravity is compensated on the software level, and the tail end of the industrial robot is kept in a constant-speed linear motion or static state so as to simulate an initial state.
In the working stage, the robot 4 contacts with the operation object 5, and the robot contact dynamics experiment system detects that forces and/or moments in all directions are subjected to gravity compensation to obtain terminal forces/moments generated only by contact; in each force control period, according to the momentum theorem, the first industrial robot 1 and the second industrial robot 2 calculate the motions of the tail end with multiple degrees of freedom according to the compensated forces and/or moments, and finally, the motions are calculated to be input values of the joint controller through inverse kinematics.
And in the modeling stage, the robot contact dynamics experiment system outputs force data and motion data of the six-dimensional force sensor 3 in all directions, and accordingly, a contact dynamics model of the operation of the robot 4 is identified.
In a preferred embodiment, the working phase comprises the following steps:
and S1, reading data of the six-dimensional force sensor 3.
And S2, performing gravity compensation on the force and/or the moment which are detected by the six-dimensional force sensor 3 and transmitted to the tail ends of the first industrial robot and the second industrial robot from the contact positions, so as to obtain tail end force and/or moment only generated by contact.
And S3, calculating the motion of multiple degrees of freedom of the tail end according to the respective compensated force and/or moment according to the momentum theorem.
And S4, resolving the input value of the joint controller by inverse kinematics.
And S5, the joint controller performs servo control on the first industrial robot 1 and the second industrial robot 2 according to the input value, and the step S1 is carried out.
Example 3
The present embodiment provides a method for verifying contact dynamics characteristics of a robot, using the robot contact dynamics experiment system according to any one of the first aspect of the present invention, the method including the following steps.
In the initial stage, the robot 4 and the operation object 5 are not in contact with each other, and the six-dimensional force sensor 3 only detects the gravity of the load; at the moment, the load gravity is compensated on the software level, and the tail end of the industrial robot is kept in a constant-speed linear motion or static state so as to simulate an initial state.
In the working stage, the robot 4 is in contact with the operation object 5, and the robot contact dynamics experiment system detects that forces and/or moments in all directions are subjected to gravity compensation to obtain terminal forces/moments generated only by contact; in each force control period, according to the momentum theorem, the first industrial robot 1 and the second industrial robot 2 calculate the motions of multiple degrees of freedom of the tail end according to the compensated forces and/or moments, and finally, the motions are calculated into joint controller input values through inverse kinematics.
And in the verification stage, the robot contact dynamics experiment system outputs force data and motion data of the six-dimensional force sensor 3 in all directions, so that a contact dynamics model of the operation of the robot 4 is verified.
In a preferred embodiment, the working phase comprises the following steps.
And S1, reading data of the six-dimensional force sensor 3.
And S2, performing gravity compensation on the force and/or moment which is detected by the six-dimensional force sensor 3 and is transmitted to the tail ends of the first industrial robot and the second industrial robot from the contact positions, so as to obtain tail end force and/or moment only generated by contact.
And S3, calculating the motion of the tail end with a plurality of degrees of freedom according to the momentum theorem and the compensated force and/or moment.
And S4, resolving the input value of the joint controller by inverse kinematics.
And S5, the joint controller performs servo control on the first industrial robot 1 and the second industrial robot 2 according to the input value, and the step S1 is carried out.
Compared with the prior art, the existing verification mode of simulating the environment by using the air floating platform can only verify the dynamic characteristics in the horizontal plane, and cannot comprehensively show the complex contact dynamic effect. According to the invention, an industrial robot (degree of freedom > = 6) auxiliary motion mode is adopted, comprehensive simulation of three-dimensional and 6-degree of freedom can be realized in the simulation aspect, and more visual and richer experimental data can be provided for the research of contact dynamics.
Claims (10)
1. A robot contact dynamics experiment system comprises a first motion platform, a second motion platform, a robot and an operation object;
the first motion platform and the second motion platform each include a tip having a plurality of degrees of freedom;
the operation object is installed at the tail end of the first motion platform, and a first sensor is installed at the tail end of the first motion platform;
the robot is arranged at the tail end of the second motion platform, and a second sensor is arranged at the tail end of the second motion platform;
the robot is capable of making contact with the operation object, and the first and second sensors are capable of detecting forces and/or moments transmitted from the contact positions to the ends of the first and second motion platforms.
2. A robot contact dynamics experiment system according to claim 1, characterized in that the first motion platform and/or the second motion platform is an industrial robot.
3. The robot contact dynamics experiment system of claim 1, wherein the first motion platform can drive the whole operation object to move; the second motion platform can drive the robot to move integrally.
4. The system of claim 1, further comprising a computing device configured to compute controller inputs for the first motion platform and the second motion platform based on forces and/or moments at the ends of the first motion platform and the second motion platform and the motion performance that the end loads should have.
5. A robot contact dynamics experiment system according to claim 4, wherein the computing device is capable of gravity compensation of the forces and/or moments detected by the first and second sensors and transmitted from the contact position to the tip of the first and second motion platforms, resulting in tip forces and/or moments due to contact only.
6. A robot contact kinetics experimental system according to any one of claims 1 to 5, characterized in that the tip of the first motion platform and the second motion platform has at least 6 degrees of freedom.
7. A method of modeling contact dynamics characteristics of a robot using the robot contact dynamics experiment system of any one of claims 1-6, the method comprising:
in the initial stage, the robot and the operation object are not in contact, and the first sensor and the second sensor only detect the gravity of the load;
in the working stage, the robot is in contact with an operation object, and the robot contact dynamics experiment system detects that forces and/or moments in all directions are subjected to gravity compensation to obtain terminal forces/moments generated only by contact; in each force control period, according to a momentum theorem, the first motion platform and the second motion platform calculate the motions of multiple degrees of freedom at the tail end according to the compensated forces/moments, and finally, the motions are resolved into input values of a joint controller by inverse kinematics;
and in the modeling stage, the robot contact dynamics experiment system outputs force data and motion data of the first sensor and the second sensor in all directions, and accordingly identifies a contact dynamics model of robot operation.
8. A method for modelling the contact dynamics of a robot according to claim 7, characterised in that said working phase comprises the following steps:
step S1, reading data of a first sensor and a second sensor;
s2, performing gravity compensation on the force and/or moment which is obtained by the first sensor and the second sensor and is transmitted to the tail ends of the first motion platform and the second motion platform from the contact positions, so as to obtain tail end force and/or moment only generated by contact;
s3, according to the momentum theorem, calculating the motion of multiple degrees of freedom at the tail end according to the respective compensated force and/or moment;
s4, resolving the input value of the joint controller by inverse kinematics;
and S5, the joint controller performs servo control on the first motion platform and the second motion platform according to the input value, and the step S1 is switched to.
9. A robot contact dynamics verification method using the robot contact dynamics experiment system according to any one of claims 1 to 6, the method comprising:
in the initial stage, the robot and the operation object are not in contact, and the first sensor and the second sensor only detect the gravity of the load;
in the working stage, the robot is in contact with an operation object, and the robot contact dynamics experiment system detects that the force/moment in each direction is subjected to gravity compensation to obtain the tail end force/moment only generated by contact; in each force control period, according to a momentum theorem, the first motion platform and the second motion platform calculate the motions of multiple degrees of freedom at the tail end according to the compensated forces and/or moments, and finally, the motions are resolved into input values of a joint controller by inverse kinematics;
and in the verification stage, the robot contact dynamics experiment system outputs force data and motion data of the first sensor and the second sensor in all directions, so that the contact dynamics model of the robot operation is verified.
10. A method of contact dynamics verification of a robot according to claim 9, characterized in that the working phase comprises the following steps:
step S1, reading data of a first sensor and a second sensor;
s2, performing gravity compensation on the force and/or moment which is obtained by the first sensor and the second sensor and is transmitted to the tail ends of the first motion platform and the second motion platform from the contact positions, so as to obtain tail end force and/or moment only generated by contact;
s3, calculating the motion of the tail end with 6 degrees of freedom according to the momentum theorem and the compensated force and/or moment;
s4, resolving the input value of the joint controller by inverse kinematics;
and S5, the joint controller performs servo control on the first motion platform and the second motion platform according to the input value, and the step S1 is switched to.
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