CN115781695B - Touch sensor module, device and mobile operation robot control method - Google Patents
Touch sensor module, device and mobile operation robot control method Download PDFInfo
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Abstract
The invention discloses a touch sensor module, a device and a mobile operation robot control method, wherein the touch sensor module comprises the following components: the touch sensor units are distributed on the base of the robot moving platform, and the touch sensor units are capacitance sensors consisting of 5 layers of parallel plates; when a compressive force is applied to an external terminal, a soft dielectric is used to change the distance between terminals, improving the safety of the mobile collaborative robot; the whole control algorithm of the extended Cartesian coordinate system of the touch sensor module realizes the whole control of the mobile collaborative robot in the man-machine interaction state; the working efficiency and the safety of the mobile cooperative robot are improved by utilizing the integral control algorithm, and the working efficiency of the mobile cooperative robot in industrial application is greatly improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a touch sensor module, a device and a mobile operation robot control method.
Background
In the application of the robot at the present stage, especially in the industrial application, the motion track of the mechanical arm is generally predefined by a user, the operation of the mobile robot is finished, and the chassis motion and the mechanical arm motion distribution are preset, and then the robot or the mechanical arm is repeatedly executed according to a plan. The robotic arm operating in this mode cannot be subjected to environmental changes or sudden disturbances. The man-machine safety cannot be strictly ensured while a plurality of singular points exist in the environment facing complex obstacles and the coexistence of man-machine. More importantly, the robot control mode can not well realize work tasks, and work errors are often caused by pose singular points in key operations such as grabbing and the like.
The invention discloses an overall control algorithm based on visual target tracking in a dynamic target tracking and grabbing method based on overall control of a mobile mechanical arm (202210092512. X), wherein a kinematic model is built by combining the mechanical arm and a mobile chassis, and the combined motion control is performed according to an operation target, so that the motion flexibility and the operation range of the mobile mechanical arm in the operation process are increased; the invention provides a tracking control method of a redundant mechanical arm, which is provided in a tracking control method, a device and a medium (202111216835.7) of the redundant mechanical arm, and can complete the tracking control task of the redundant mechanical arm by adopting a model-free method through a control mode based on a double-CMAC neural network, so that the interference brought by various uncertainty factors to model parameters is better dealt with; in addition, the invention patent (202122764289.2) discloses a mobile wheelchair based on integral control, which is designed in an integral control system of a stepping electric wheelchair, and the safety of wheelchair assistance is realized through an integral control method.
Although the prior art realizes the overall control of the robot, the overall control algorithm proposed by the patent mostly depends on visual sensing information and continuous motion chains, and the problem of singular points caused by redundancy degrees of freedom is not fundamentally solved. Therefore, how to fundamentally solve the problem of singular points caused by redundancy degrees of freedom to improve the working efficiency, the safety in the working process and the smoothness of operation of the mobile cooperative robot has become a urgent problem for those skilled in the art.
Disclosure of Invention
The application aims to provide a touch sensor module, a device and a mobile operation robot control method, wherein the touch sensor module comprises the following components: the touch sensor units are distributed on the base of the robot moving platform, and the touch sensor units are capacitance sensors consisting of 5 layers of parallel plates; when a compressive force is applied to an external terminal, a soft dielectric is used to change the distance between terminals, improving the safety of the mobile collaborative robot; the whole control algorithm of the extended Cartesian coordinate system of the touch sensor module realizes the whole control of the mobile collaborative robot in the man-machine interaction state; the working efficiency and the safety of the mobile cooperative robot are improved by utilizing the integral control algorithm, and the working efficiency of the mobile cooperative robot in industrial application is greatly improved.
In order to solve the above technical problems, the present application provides a tactile sensor module, which includes at least one tactile sensor unit, wherein the tactile sensor unit is distributed on a base of a moving platform of a robot, and the tactile sensor unit is formed byA capacitive sensor of 5 parallel plates, wherein a first parallel plate is provided as a first rigid non-conductive material; the second layer of parallel plates is provided with a first conductive material, the first conductive material forms a first terminal of the capacitor sensor, and the first terminal is connected with the ground; the third layer of parallel plates is made of a soft dielectric material, the fourth layer of parallel plates is made of a second conductive material, the second conductive material forms a second terminal of the capacitor sensor, and the second terminal is connected with an electrode of the robot touch pad; the fifth layer of parallel plates being provided as a second rigid non-conductive material; distance d between the first terminal and the second terminal i And capacitance variable C i The linear relationship between them is:
where α is the conductivity of the dielectric, S is the surface area of the first terminal or the second terminal, and the α parameter and S parameter are constants.
Preferably, the touch sensor module comprises 11 touch sensor units, and the 11 touch sensor units are distributed on the front side and the left side and the right side of the base of the robot moving platform to form a one-dimensional touch array for measuring longitudinal force distribution around the moving platform.
Preferably, four tactile sensor units are respectively arranged on the left side and the right side of the robot moving platform base, and three tactile sensor units are arranged on the front side of the robot moving platform base.
To solve the above technical problem, the present application provides a robot device based on a tactile sensor module, comprising the tactile sensor module, wherein when an external force of a predetermined magnitude is applied to a base of the robot, dynamics of the robot are defined as a floating base system controlled by torque.
In order to solve the above technical problems, the present application provides a method for controlling a mobile operation robot based on a tactile sensor module, which is applied to the robot device based on the tactile sensor module, and the method comprises:
applying an external force with a preset magnitude to a torque-controlled robot floating base;
the virtual control moment generated by the external force is converted into the speed required by the running of the robot through an admittance control method, and the speed model is as follows:
wherein ,/>
M v Is a main diagonal quality matrix of the robot, D v For damping matrix->
For the current position, speed and acceleration of the moving joint, V v ∈R 3 To move the torque vector of the chassis, n B For the number of degrees of freedom of the mobile chassis.
Preferably, the control method further includes:
expanding the speed model into an omnidirectional mobile chassis of the robot, wherein a kinematic model of a mobile platform is as follows:
wherein ,
the robot arm joint matrix, the Coriolis Li Lixin matrix and the gravity vector are respectively; />
The position, the speed and the acceleration of the joints of the whole body of the current robot are; />
The matrix is an external matrix and a control matrix of the robot arm; n is n A And n is the overall degree of freedom of the mobile cooperative robot.
Preferably, the control method further includes:
torque reference value generated by whole body controller for controlling robot
The control signals are transmitted to a controller of the omnidirectional mobile chassis of the robot and a controller of the mechanical arm of the robot;
acquiring a kinematic chain connection of the robot mechanical arm and the robot omnidirectional mobile chassis coordinate system through a kinematic model of the mobile platform;
and determining a whole body torque value of the robot, namely the perception force of the touch sensor module, through an external coordinate system, a Cartesian impedance control algorithm and the torque reference value.
Preferably, the determining the whole body torque value of the robot through the external coordinate system, the cartesian impedance control algorithm and the torque reference value, that is, the perception of the tactile sensor module includes:
ν C ＝W -1 M -1 J T ΛwΛ -1 F+(I-W -1 M -1 J T ΛwJM -1 )ν 0 ；
Λ W ＝J -T MWMJ -1 ；
Λ＝(JM -1 J T ) -1 ；
wherein ,Λ,ΛW ∈R 6×6 Respectively weighted and unweighted cartesian inertia;
the mobile cooperative robot comprises a mobile cooperative robot whole jacobian matrix and a dynamic jacobian matrix; i epsilon R 6×6 Is a dynamic matrix;
zero-space force matrix v 0 ∈R n For producing a motion which does not interfere with the Cartesian force F, a weighting matrix W E R being positively determined n×n Is defined as:
W(φ)＝H T M -1 (φ)H；
in the formula H∈Rn×n Is a diagonal positive-definite controller weighting matrix which is based on the positioning steering gain eta A ,η B Dynamically selecting:
thus, the relationship of the perception of the tactile sensor module to the whole body controller:
in the formula 
Is the pose and torque of the end effector at present; d (D) d ,K d ∈R 6×6 The method is the Cartesian hardness and damping required by the mobile cooperative robot, namely the interaction force between the mobile cooperative robot and a man-machine during the working process.
Preferably, the determining the whole body torque value of the robot through the external coordinate system, the cartesian impedance control algorithm and the torque reference value, that is, the perception of the tactile sensor module further includes:
zero space torque v 0 The method comprises the following steps:
preferably, the robotic arm is a cooperative robotic arm with mechanical feedback sensing capability.
The touch sensor module, the device and the mobile operation robot control method have the following beneficial effects that the touch sensor module disclosed by the invention comprises the following components: at least one tactile sensor unit distributed on the robot moving platform base, wherein the tactile sensor unit is a capacitance sensor composed of 5 layers of parallel plates, and when a compression force is applied to an external terminal, a soft dielectric is used for changing the distance between the terminals, so that the safety of the mobile cooperative robot is improved; the whole control algorithm of the extended Cartesian coordinate system of the touch sensor module integrates the force acquired by the touch sensing information into the whole control controller, so that the problem that the combined control of the mobile platform and the mechanical arm cannot be directly performed under the condition of redundant degrees of freedom is solved. Under the condition of confirming the executing pose of the tail end and the tactile force, the whole planning can be completed, the working efficiency and the safety of the mobile cooperative robot are improved, and the working efficiency of the mobile cooperative robot in industrial application is greatly improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the present invention will be further described with reference to the accompanying drawings and embodiments, in which the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained by those skilled in the art without inventive effort:
FIG. 1 is a schematic diagram of a tactile sensor module according to a preferred embodiment of the present invention;
FIG. 2 is a schematic diagram of a layout structure of a touch sensor module according to a preferred embodiment of the invention;
FIG. 3 is an overall control state diagram of a tactile sensor module according to a preferred embodiment of the present invention;
FIG. 4 is a flow chart of a method for controlling a mobile manipulator robot based on a tactile sensor module according to a preferred embodiment of the present invention;
fig. 5 is a flowchart of a method for controlling a mobile manipulator robot based on a tactile sensor module according to another preferred embodiment of the present invention.
Detailed Description
The core of the application is to provide a touch sensor module, a device and a mobile operation robot control method, in this scheme, the touch sensor module includes: the touch sensor units are distributed on the base of the robot moving platform, and the touch sensor units are capacitance sensors consisting of 5 layers of parallel plates; when a compressive force is applied to an external terminal, a soft dielectric is used to change the distance between terminals, improving the safety of the mobile collaborative robot; the whole control algorithm of the extended Cartesian coordinate system of the touch sensor module realizes the whole control of the mobile collaborative robot in the man-machine interaction state; the working efficiency and the safety of the mobile cooperative robot are improved by utilizing the integral control algorithm, and the working efficiency of the mobile cooperative robot in industrial application is greatly improved.
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a touch sensor module provided in the present application, including at least one touch sensor unit, where the touch sensor unit is distributed on a base of the robot moving platform, and the touch sensor unit is a capacitive sensor formed by 5 parallel plates, and a first parallel plate is made of a first rigid non-conductive material; the second layer of parallel plates is provided with a first conductive material, the first conductive material forms a first terminal of the capacitor sensor, and the first terminal is connected with the ground; the third layer of parallel plates is made of a soft dielectric material, the fourth layer of parallel plates is made of a second conductive material, the second conductive material forms a second terminal of the capacitor sensor, and the second terminal is connected with an electrode of the robot touch pad; the fifth layer of parallel plates being provided as a second rigid non-conductive material; the first terminal and the second terminalDistance d i And capacitance variable C i The linear relationship between them is:
where α is the conductivity of the dielectric, S is the surface area of the first terminal or the second terminal, and the α parameter and S parameter are constants.
Currently, in the application of the robot at the present stage, especially in the industrial application, the motion track of the mechanical arm is generally predefined by a user, the operation is completed by moving the cooperative robot, and the chassis motion and the mechanical arm motion distribution are preset, and then the robot or the mechanical arm is repeatedly executed according to a plan. The robotic arm operating in this mode cannot be subjected to environmental changes or sudden disturbances. The man-machine safety cannot be strictly ensured while a plurality of singular points exist in the environment facing complex obstacles and the coexistence of man-machine. More importantly, the robot control mode can not well realize work tasks, and work errors are often caused by pose singular points in key operations such as grabbing and the like.
In the prior art, the mobile operation robot control method applied to whole body track planning and control comprises the following steps: 1) The sampling-based method can grow a tree of collision-free joint configurations. However, this approach suffers from not only limited curse, but also requires a sufficient knowledge of the environment during the planning phase. In order to work in an unknown, possibly dynamic, environment, which can only be observed by means of robot-mounted sensors, offline trajectory planning is often inadequate. 2) Another approach to solving WBCs is the Model Predictive Control (MPC) approach. In this field, the goal is to solve the planning problem online by finding control sequences that optimize a given objective function, e.g., minimize the deviation from the target trajectory. Although various MPC formulas have been proposed for on-line resolution of WBC, these formulas are either limited in obstacle avoidance capability or use only kinematic models. 3) Recent work has shown that learning-based approaches can compete with classical algorithms in local path planning and manipulation tasks. In particular, reinforcement Learning (RL) has shown potential in the field where data collection and labeling for supervised learning is expensive. From the existing data, the motion trail and force are regarded as two components of the flexible behavior, and the relative mature schemes for learning and controlling the flexible behavior of the robot by using the motion trail and the force are very few. The method is characterized in that a combined variable impedance control strategy Based on a potential function and a dissipation field is provided, multiple groups of Task-Based parameters are designed manually through priori knowledge, and the method has strong constructivity, can only be used for offline training, and is low in efficiency.
In view of the above drawbacks, the present application first proposes a tactile sensor module and a mobile cooperative robot tactile sensor array arrangement.
Specifically, the mobile cooperative robot in the application is used as a small and flexible automatic tool, can perform actions like human arms, has wider moving space, does not feel tired, can replace human to do repeated and dangerous work, and has wide application in the 3C electronic industry, such as assembly, screw locking, carrying test, machine tool loading and unloading and the like. It can be understood that the mobile cooperative robot comprises a robot moving platform and a robot mechanical arm, and the touch sensor module in the application is a sensitive mobile cooperative robot feeler which is arranged on the robot moving platform and integrates a low-cost capacitive touch cover to measure the interaction force applied to the base of the robot moving platform.
Specifically, as shown in fig. 1, each tactile sensor unit is a capacitive sensor composed of 5 layers of parallel plates. From the distance d between the first terminal and the second terminal i And capacitance variable C i Linear relationship of existence
It is known that a soft dielectric material is used to change the distance d i 。
In particular, when a compressive force is applied to the first terminal or the second terminal of the tactile sensor unit, the softThe dielectric material is reduced by external force, and the first terminal or the second terminal is adjusted accordingly, thereby changing the capacitance variable C i Is of a size of (2); meanwhile, the soft dielectric material enables the man-machine contact to be soft contact, so that resilience force is provided when the tentacles of the mobile cooperative robot are contacted with the human, and the safety of the mobile cooperative robot is improved.
It should be further noted that, in the present application, the core processor of the tactile sensor module is a touch pad, and the touch pad is used for reading and processing the data given by the tactile sensor module. The touchpad is a microcontroller based on an ATmega32U4 microprocessor, which integrates a dedicated capacitive touch sensor driver MPR121. The driver allows up to 12 capacitive touch electrodes to be connected. Each capacitor consists of two terminals, one of which is a fixed terminal, connected to one circuit board electrode and the other of which is a mobile terminal, connected to the next mobile terminal and to the ground of the circuit board, and is common to the terminals of the other capacitors.
In summary, the present invention provides a tactile sensor module, in this scheme, the tactile sensor module includes: the touch sensor units are distributed on the base of the robot moving platform, and the touch sensor units are capacitance sensors consisting of 5 layers of parallel plates; wherein the first layer of parallel plates is provided as a first rigid non-conductive material; the second layer of parallel plates is provided with a first conductive material, the first conductive material forms a first terminal of the capacitor sensor, and the first terminal is connected with the ground; the third layer of parallel plates is made of a soft dielectric material, the fourth layer of parallel plates is made of a second conductive material, the second conductive material forms a second terminal of the capacitor sensor, and the second terminal is connected with an electrode of the robot touch pad; the fifth layer of parallel plates is provided as a second rigid non-conductive material. Through the distance d between the first terminal and the second terminal i And capacitance variable C i The linear relationship between them shows that when a compressive force is applied to the external terminals, a soft dielectric is used to change the distance between the terminals, improving the safety of the mobile collaborative robot.
Based on the above embodiments:
referring to fig. 2, fig. 2 is a schematic structural diagram of a touch sensor module provided in the present application.
As a preferred embodiment, the tactile sensor module comprises 11 tactile sensor units, and the 11 tactile sensor units are distributed on the front side and the left side and the right side of the base of the robot moving platform to form a one-dimensional tactile array for measuring the longitudinal force distribution around the moving platform.
As a preferred embodiment, four tactile sensor units are respectively arranged on the left side and the right side of the robot moving platform base, and three tactile sensor units are arranged on the front side of the robot moving platform base.
Specifically, in the present embodiment, 11 tactile sensor units constitute a one-dimensional tactile array for measuring the longitudinal force distribution around the robot moving platform.
Specifically, the touch sensor unit is arranged on the moving platform of the robot, so that in the actual working environment of the robot, the man-machine interaction positions are around the moving platform. Therefore, the touch sensor units are only distributed on the front and left and right sides of the robot, four touch sensor units are respectively arranged on the left and right sides of the base of the robot moving platform, and three touch sensor units are arranged on the front side of the base of the robot moving platform, so that the length difference of the base of the robot moving platform is better adapted. It will be appreciated that in another preferred embodiment, the number of tactile sensor units may be adjusted according to the length and width of the robot moving platform, and is not particularly limited herein.
The application also provides a robot device based on the touch sensor module, comprising the touch sensor module, wherein when an external force with a preset magnitude is applied to the base of the robot, the dynamics of the robot are defined as a floating base system controlled by torque.
For an introduction of a touch sensor module provided in the present application, please refer to the above embodiment, and the description is omitted herein.
Referring to fig. 3, fig. 3 is an overall control state diagram of a touch sensor module provided in the present application.
Referring to fig. 4, fig. 4 is a flowchart of a method for controlling a mobile operation robot based on a tactile sensor module provided in the present application.
In order to solve the above technical problems, the present application provides a method for controlling a mobile operation robot based on a tactile sensor module, which is applied to the robot device based on the tactile sensor module, and the method comprises:
s1, applying external force with a preset magnitude to a torque-controlled robot floating base;
s2, converting virtual control moment generated by the external force into speed required by the running of the robot through an admittance control method, wherein a speed model is as follows:
wherein ,/>
M v Is a main diagonal quality matrix of the robot, D v For damping matrix->
For the current position, speed and acceleration of the moving joint, V v ∈R 3 To move the torque vector of the chassis, n B For the number of degrees of freedom of the mobile chassis.
Specifically, in the field of robot control, "forward kinematics" (Forward Kinematics, FK) refers to a process of knowing each joint angle of a robot and determining the end position of the robot. "inverse kinematics" (Inverse Kinematics, IK) refers to the process of knowing the end position of a robot and finding the angles of the joints of the robot.
Specifically, when controlling a robot, it is generally necessary to calculate the angle of each joint angle by inverse kinematics according to the target position to be reached by the tip, and then the robot executes a driver to change the degree of each joint angle so as to change the tip position. Due to errors in control, the actual joint angle deviates from the previously preset target position, and the position actually reached by the tail end can be calculated according to the degrees of the actual joint angle through forward kinematics.
Specifically, based on the above-described tactile sensor unit arrangement, the present application proposes an extended cartesian coordinate system overall control algorithm. FIG. 3 depicts the behavior of the robot's internal controller when an external force is applied to the robot's mobile platform base; it will be appreciated that when an external force is applied to the base of the robot moving platform, the dynamics of the robot are defined as a torque controlled floating base system.
Specifically, the admittance control method is defined as determining the output motion according to the current stress state and the target admittance model based on the impedance control of the inner ring motion control.
It is worth to say that the characteristic of impedance control is that through the relation between the position or the speed of robot terminal controller and the external environment effort, reach the purpose of controlling external effort through the feedback position error, the speed error of adjusting each joint of arm. Impedance control is the amount of input motion and the amount of output force. If the force is known in the reverse way, the knee joint exercise amount is calculated and the exercise amount is output, and the process is admittance control.
Correspondingly, the admittance controller must be used together with a motion tracker, the collected force is first input into the admittance controller, the desired amount of motion is output, the motion tracker receives it, and then the actual motion of the robot joint is output. It can be seen that, in essence, the admittance controller mainly plays a role in generating a motion-amount reference trajectory.
In the present application, the virtual control moment generated by the external force is converted into the speed required by the robot to travel by an admittance control method, wherein the robot main diagonal quality matrix M v Damping matrix D v The current position, speed, acceleration, torque vector of the mobile chassis, the number of degrees of freedom of the mobile chassis and the like of the mobile jointThe substitution is not particularly limited here according to the actual parameters of the robot.
Referring to fig. 5, fig. 5 is a flowchart of another method for controlling a mobile operation robot based on a tactile sensor module provided in the present application.
As a preferred embodiment, the control method further includes:
s3, expanding the speed model into an omnidirectional mobile chassis of the robot, wherein a kinematic model of a mobile platform is as follows:
wherein ,
the robot arm joint matrix, the Coriolis Li Lixin matrix and the gravity vector are respectively; />
The position, the speed and the acceleration of the joints of the whole body of the current robot are; />
The matrix is an external matrix and a control matrix of the robot arm; n is n A And n is the overall degree of freedom of the mobile cooperative robot.
Specifically, since the speed and acceleration of the tool tip in the world coordinate system are coupled by the speed and acceleration of the mobile chassis and the mechanical arm, the base coordinate system of the mechanical arm is defined on the mobile chassis, and the base coordinate system and the mobile chassis coordinate system have a fixed positional relationship, wherein the motion equation of the mobile chassis is as follows:
the motion equation of the end coordinate system and the base coordinate system of the six-axis mechanical arm is as follows:
it is understood that the robot arm joint matrix, the coriolis Li Lixin matrix, the gravity vector, the current robot whole body joint position, the speed, the acceleration, the robot arm external matrix, the control matrix, the overall freedom of the mobile cooperative robot, and the like may be substituted according to the actual parameters of the robot, which are not particularly limited herein.
As a preferred embodiment, the control method further includes:
s4, controlling a torque reference value generated by a whole body controller of the robot
The control signals are transmitted to a controller of the omnidirectional mobile chassis of the robot and a controller of the mechanical arm of the robot;
s5, acquiring a kinematic chain connection of the robot mechanical arm and the robot omnidirectional mobile chassis coordinate system through a kinematic model of the mobile platform;
s6, determining a whole body torque value of the robot, namely the perception force of the touch sensor module, through an external coordinate system, a Cartesian impedance control algorithm and the torque reference value.
As a preferred embodiment, the robotic arm is a cooperative arm with mechanical feedback sensing capability.
Specifically, in the present embodiment, the torque reference value generated by the whole body controller is based on the kinematic model of the above mobile platform
Is transferred to the controller of the omnidirectional mobile chassis and the controller of the mechanical arm. According to the invention, the cooperative mechanical arm is adopted, has mechanical feedback sensing capability, and meanwhile, the tactile sensor unit arrangement shown in fig. 2 is adopted, so that the tactile sensing force can be completely obtained around the robot moving platform. By kinematic models of mobile platformsIt is known that the robot arm end movement is linked to the kinematic chain of chassis coordinate system movements. The stability in the motion process can be known that the mobile cooperative robot is in a semi-steady state under the conditions of external force and left and right torque of the robot.
The optimization equation for the external stress of the omnidirectional mobile chassis and the optimal effect is:
wherein ,λt As unknown constraint coefficients of cost function, C (V n ,λ n ) As a cost function of the motion equation of the omnidirectional mobile chassis, W t Weighting the positive terms of the motion of the mobile chassis, F is the perception of the tactile sensor module.
To obtain the best optimization, the above is derived to obtain the following equation:
external force applied to the second part of stress, namely the position of the tool of the cooperative mechanical arm:
wherein ,,λA As an unknown constraint coefficient of the cost function, C (v) A ,λ A ) Is a cost function of a six-axis cooperative mechanical arm motion equation, W A The weighting term is positively determined for the six-axis mechanical arm.
To obtain the best optimization, the above is derived to obtain the following equation:
wherein I is a weighted identity matrix.
As a preferred embodiment, the determining the whole body torque value of the robot through the external coordinate system, the cartesian impedance control algorithm and the torque reference value, that is, the sensing force of the tactile sensor module includes:
ν C ＝W -1 M -1 J T ΛwΛ -1 F+(I-W -1 M -1 J T ΛwJM -1 )ν 0 ；
Λ W ＝J -T MWMJ -1 ；
Λ＝(JM -1 J T ) -1
wherein ,Λ,ΛW ∈R 6×6 Respectively weighted and unweighted cartesian inertia;
the mobile cooperative robot comprises a mobile cooperative robot whole jacobian matrix and a dynamic jacobian matrix; i epsilon R 6×6 Is a dynamic matrix, and omega is the rotation speed of the mobile chassis;
zero-space force matrix v 0 ∈R n For producing a motion which does not interfere with the Cartesian force F, a weighting matrix W E R being positively determined n×n Is defined as:
W(φ)＝H T M -1 (φ)H
in the formula H∈Rn×n Is a diagonal positive-definite controller weighting matrix which is based on the positioning steering gain eta A ,η B Dynamically selecting:
thus, the relationship of the perception of the tactile sensor module to the whole body controller:
in the formula 
Is the pose and torque of the end effector at present; d (D) d ,K d ∈R 6×6 The method is the Cartesian hardness and damping required by the mobile cooperative robot, namely the interaction force between the mobile cooperative robot and a man-machine during the working process.
As a preferred embodiment, the determining the whole body torque value of the robot through the external coordinate system, the cartesian impedance control algorithm and the torque reference value, that is, the sensing force of the tactile sensor module further comprises:
zero space torque v 0 The method comprises the following steps:
in summary, the force obtained by the sensing information of the touch sensor module is integrated into the robot controller through the proposal of the controller, so that the problem that the combined control of the mobile platform and the mechanical arm cannot be directly carried out under the condition of redundant degrees of freedom is solved, and the aim of overall planning can be fulfilled under the condition of confirming the executing pose and the touch force of the tail end is realized. According to the invention, in the human-computer interaction process, the safety pose solving under the condition that a person is in contact with the robot is realized through the control algorithm, the coexistence state under the working state of the human-computer is realized, and the working efficiency and the safety are greatly improved.
It should be noted that in this specification the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (2)
1. A method for controlling a mobile operation robot based on a tactile sensor module, which is applied to a robot device based on a tactile sensor module, the method comprising:
applying an external force with a preset magnitude to a torque-controlled robot floating base;
the virtual control moment generated by the external force is converted into the speed required by the running of the robot through an admittance control method, and the speed model is as follows:
wherein ,Mv ,/>
M v Is a main diagonal quality matrix of the robot, D v For damping matrix, V v ∈R 3 To move the torque vector of the chassis, n B The number of degrees of freedom for moving the chassis;
wherein the tactile sensor module-based robot device comprises a tactile sensor module, wherein a floating base system controlled by torque is formed when an external force of a preset magnitude is applied to the base of the robot;
wherein the tactile sensor module comprises at least one tactile sensor unit, the touchThe sensor units are distributed on a base of the robot moving platform, and the sensor units are capacitance sensors composed of 5 layers of parallel plates, wherein the first layer of parallel plates are made of a first rigid non-conductive material; the second layer of parallel plates is provided with a first conductive material, the first conductive material forms a first terminal of the capacitor sensor, and the first terminal is connected with the ground; the third layer of parallel plates is made of a soft dielectric material, the fourth layer of parallel plates is made of a second conductive material, the second conductive material forms a second terminal of the capacitor sensor, and the second terminal is connected with an electrode of the robot touch pad; the fifth layer of parallel plates being provided as a second rigid non-conductive material; distance d between the first terminal and the second terminal i And capacitance variable C i The relation between the two is:
wherein α is the conductivity of the dielectric, S is the surface area of the first terminal or the second terminal, and the α parameter and S parameter are constants;
the touch sensor module comprises 11 touch sensor units, wherein 11 touch sensor units are distributed on the front side, the left side and the right side of the base of the robot moving platform to form a one-dimensional touch array for measuring longitudinal force distribution around the moving platform;
four tactile sensor units are respectively arranged on the left side and the right side of the robot moving platform base, and three tactile sensor units are arranged on the front side of the robot moving platform base;
wherein the control method further comprises:
expanding the speed model into an omnidirectional mobile chassis of the robot, wherein a kinematic model of a mobile platform is as follows:
wherein ,
the robot arm joint matrix, the Coriolis Li Lixin matrix and the gravity vector are respectively; phi (phi) is (phi)>
The position, the speed and the acceleration of the joints of the whole body of the current robot are;
the matrix is an external matrix and a control matrix of the robot arm; n is n A The whole freedom degree of the mobile cooperative robot is;
wherein the control method further comprises:
torque reference value generated by whole body controller for controlling robot
The control signals are transmitted to a controller of the omnidirectional mobile chassis of the robot and a controller of the mechanical arm of the robot;
acquiring a kinematic chain connection of the robot mechanical arm and the robot omnidirectional mobile chassis coordinate system through a kinematic model of the mobile platform;
determining a whole body torque value of the robot, namely the perception force of the touch sensor module, through an external coordinate system, a Cartesian impedance control algorithm and the torque reference value;
the whole body torque value of the robot is determined through an external coordinate system, a Cartesian impedance control algorithm and the torque reference value, namely the perception of the tactile sensor module comprises:
ν C ＝W -1 M -1 J T ΛwΛ -1 F+(I-W -1 M -1 J T ΛwJM -1 )ν 0 ；
Λ W ＝J -T MWMJ -1 ；
Λ＝(JM -1 J T ) -1 ；
wherein ,Λ,ΛW ∈R 6×6 Respectively weighted and unweighted cartesian inertia; j is a group of the components of the V-shaped steel,
the mobile cooperative robot comprises a mobile cooperative robot whole jacobian matrix and a dynamic jacobian matrix; i epsilon R 6×6 Is a dynamic matrix;
zero-space force matrix v 0 ∈R n For producing a motion which does not interfere with the Cartesian force F, a weighting matrix W E R being positively determined n×n Is defined as:
W(φ)＝H T M -1 (φ)H；
in the formula H∈Rn×n Is a diagonal positive-definite controller weighting matrix which is based on the positioning steering gain eta A ,η B Dynamically selecting:
thus, the relationship of the perception of the tactile sensor module to the whole body controller:
in the formula x,
is the pose and torque of the end effector at present; d (D) d ,K d ∈R 6×6 Is the Cartesian stiffness and damping required for moving a collaborative robot;
the whole body torque value of the robot is determined through an external coordinate system, a Cartesian impedance control algorithm and the torque reference value, namely the perception force of the touch sensor module further comprises:
zero space torque v 0 The method comprises the following steps:
2. the method of claim 1, wherein the robotic arm is a collaborative robot with mechanical feedback awareness.
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