CN115871022A - Robot dynamics verification method based on sequence splitting method - Google Patents
Robot dynamics verification method based on sequence splitting method Download PDFInfo
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Abstract
The invention provides a robot dynamics verification method based on a sequence splitting method and a robot verification system, wherein the system comprises a simulation system and a physical verification platform; the simulation system can acquire the actual motion trail of each joint of the robot, carry out sequence splitting on the motion trail of the robot to obtain the motion curve and the load curve of each joint and send the motion curves and the load curves to the material object verification platform; the material object verification platform can respond to the motion curve and the load curve of each joint, load and test each joint of the robot in a time-sharing mode, and return an actual motion track obtained through testing to the simulation system, so that comprehensive verification of robot dynamics under various complex working conditions is achieved.
Description
Technical Field
The invention relates to a verification system and a verification method for a robot, in particular to a system and a method for comprehensive working performance of robot dynamics test verification.
Background
The dynamics of the robot have a crucial influence on the performance of the movement operation of the robot, and if the dynamics of the robot cannot be accurately acquired, great uncertainty and safety problems exist. However, the robot is a high-performance comprehensive result of mechanical structure, driving, electric control, sensing and the like, has complex nonlinear coupling problems of man-machine coexistence working environment, perception, dynamics, control and the like, and accurately models and identifies the dynamics of the robot. Therefore, a robot verification system is built to guide the research of a robot control algorithm and verify the feasibility and safety of high-performance stable motion operation of the robot.
Disclosure of Invention
It is an object of the present invention to provide a system and method for verification of robot dynamics,
the technical scheme of the invention is as follows.
The invention provides a robot verification system in a first aspect, which comprises a simulation system and a physical verification platform;
the simulation system can acquire the actual motion trail of each joint of the robot, carry out sequence splitting on the motion trail of the robot to obtain the motion curve and the load curve of each joint and send the motion curves and the load curves to the material object verification platform;
the material object verification platform can respond to the motion curve and the load curve of each joint, load and test each joint of the robot in a time-sharing mode, and return an actual motion track obtained through testing to the simulation system, so that comprehensive verification of various complex working conditions is achieved.
Preferably, the motion curve comprises a motion track curve and a feed-forward moment curve of each joint of the robot; the load curve includes the actual moment curve for each joint.
Preferably, the simulation system comprises a robot motion planning device, a system dynamics feedforward device and a sequence splitting device;
the robot motion planning device can perform motion planning according to the operation task of the robot to obtain the motion trail of each joint of the robot and send the motion trail to the system dynamics feedforward device and the sequence splitting device;
the system dynamics feedforward device is used for calculating according to the motion trail of each joint to obtain joint feedforward torque and sending the joint feedforward torque to the sequence splitting device;
the sequence splitting device can decompose the motion trail of each joint of the robot to obtain the motion trail curve of each joint; and the feedforward torque of each joint can be decomposed to obtain a feedforward torque curve of each joint.
Preferably, the simulation system further comprises a sequence integration device and a robot motion simulation system;
the sequence integration device can integrate the actual motion trail of each joint of the robot and send the integrated motion trail to the robot motion simulation system;
the robot motion simulation system realizes the simulation analysis of the motion characteristics of the robot and obtains the driving moment required by each joint;
the sequence splitting device can be used for decomposing the driving torque required by each joint to obtain an actual torque curve of each joint.
Preferably, the physical verification platform comprises a loading device;
and the loading device carries out time-sharing loading according to the single-joint load moment curve calculated by the simulation system to simulate the real joint load moment.
Preferably, the loading device includes:
and the inertial loading of the robot joint can be realized.
Preferably, the object verification platform can also test the real motion condition of the robot joint, so as to obtain the actual motion track of each joint.
A second aspect of the present invention provides a robot verification method, including the steps of:
s1, designing in a simulation system according to operation tasks needing to be carried out by the robot, and realizing the motion planning of the robot;
s2, performing joint feedforward moment calculation on the motion track of each joint of the robot obtained by planning, splitting the sequence of the motion track into motion track curves of each joint;
s3, splitting the sequence of the obtained joint feedforward torque, and decomposing to obtain a feedforward torque curve of each joint;
s4, sending the motion tracks of all joints obtained by splitting the sequence and feedforward torque to all actual mechanical arm joints for motion control;
s5, performing analog simulation on the whole robot to obtain an actual moment value of a joint;
s6, obtaining the actual torque curve of each joint through sequence splitting of the torque values of all joints, and using the actual torque curve for joint load simulation;
s7, testing the real motion condition of the robot joint to obtain the actual motion track of each joint;
and S8, performing sequence integration on the actual motion tracks of all joints, and driving a simulation model to obtain the actual torque value of the next joint.
The robot simulation system and the physical verification platform are organically combined together, the robot simulation system simultaneously obtains the load conditions of all joints of the robot, and the physical verification platform verifies the motion performance of all the joints in a time-sharing manner.
Drawings
Figure 1 is a schematic diagram of a physical test system loading platform,
fig. 2 is a schematic diagram of the structure of the robot verification system of the present invention.
Detailed Description
As shown in fig. 1, the overall scheme of the robot verification system according to the present invention is shown in fig. 1, and includes two parts, namely a simulation system and a physical verification platform.
The simulation system comprises a dynamic model of the whole robot, so that the simulation analysis of the motion characteristics of the robot can be realized, and the driving torque required by each joint can be obtained. In a preferred embodiment, the simulation system can acquire an actual motion trajectory of each joint of the robot, perform sequence splitting on the motion trajectory of the robot to obtain a motion curve and a load curve of each joint, and send the motion curves and the load curves to the physical verification platform.
The material object verification platform can respond to the motion curve and the load curve of each joint, load and test each joint of the robot in a time-sharing mode, and return an actual motion track obtained through testing to the simulation system, so that verification of various complex working conditions is achieved.
In a preferred embodiment, the physical verification system is a loading device and is used for simulating the load moment condition of each joint during movement. The loading device carries out time-sharing loading according to the single-joint load moment curve calculated by the simulation system, and simulates the real joint load moment. All joint motion conditions of a plurality of groups of experimental robots can be verified through sequence splitting, and robot verification is achieved.
As shown in fig. 2, the robot verification system according to the present invention employs the following specific procedures when performing a test.
And S1, designing in a simulation system according to the operation tasks required to be developed by the robot, and realizing the motion planning of the robot.
And S2, sending the motion trail of each joint of the robot obtained by planning to system dynamics feedforward for joint feedforward torque calculation, and carrying out sequence splitting on the motion trail to decompose the motion trail into motion trail curves of each joint.
And S3, performing sequence splitting on the joint feedforward torque obtained by system dynamics feedforward, and decomposing to obtain a feedforward torque curve of each joint.
And S4, sending the motion tracks and the feedforward moments of all joints obtained by splitting the sequence to all actual mechanical arm joints for motion control.
And S5, performing analog simulation on the whole robot in the robot motion simulation system to obtain an actual moment value of the joint.
And S6, obtaining the actual torque curve of each joint through the sequence splitting of the torque values of all the joints, and sending the actual torque curve to a loading device of an actual system for joint load simulation.
And S7, testing the real motion condition of the joints of the robot in the real object verification platform so as to obtain the actual motion track of each joint.
And S8, the actual motion tracks of all joints are integrated and sent to a robot motion simulation system through a sequence, and a simulation model is driven to obtain the actual moment value of the next joint.
The robot simulation system and the physical verification platform are organically combined together through the process, the load conditions of all joints of the robot are simultaneously acquired through the robot simulation system, and the movement performance of all the joints is verified in a time-sharing mode through the physical verification platform, so that the movement of the robot is verified.
Claims (9)
1. A robot verification system comprises a simulation system and a real object verification platform;
the simulation system can acquire the actual motion trail of each joint of the robot, carry out sequence splitting on the motion trail of the robot to obtain the motion curve and the load curve of each joint and send the motion curves and the load curves to the material object verification platform;
the material object verification platform can respond to the motion curve and the load curve of each joint, load and test each joint of the robot in a time-sharing mode, and return an actual motion track obtained through testing to the simulation system, so that comprehensive verification of various complex working conditions is achieved.
2. A robot verification system according to claim 1, wherein said motion curves comprise a motion trajectory curve and a feed-forward torque curve of each joint of the robot; the load curve includes the actual moment curve for each joint.
3. The robot verification system of claim 2, wherein the simulation system comprises a robot motion planning device, a system dynamics feedforward device, and a sequence splitting device;
the robot motion planning device can perform motion planning according to the operation task of the robot to obtain the motion trail of each joint of the robot and send the motion trail to the system dynamics feedforward device and the sequence splitting device;
the system dynamics feedforward device is used for calculating according to the motion trail of each joint to obtain joint feedforward torque and sending the joint feedforward torque to the sequence splitting device;
the sequence splitting device can decompose the motion trail of each joint of the robot to obtain the motion trail curve of each joint; and the joint feedforward torque can be decomposed to obtain a feedforward torque curve of each joint.
4. A robot verification system according to claim 3, wherein the simulation system further comprises a sequence integration means and a robot motion simulation system;
the sequence integration device can integrate the actual motion trail of each joint of the robot and send the integrated motion trail to the robot motion simulation system;
the robot motion simulation system realizes the simulation analysis of the motion characteristics of the robot and obtains the driving moment required by each joint;
the sequence splitting device can be used for decomposing the driving torque required by each joint to obtain an actual torque curve of each joint.
5. A robot verification system according to claim 4, wherein said physical verification platform is a loading device;
and the loading device carries out time-sharing loading according to the single-joint load moment curve calculated by the simulation system, and simulates a real joint load moment.
6. A robot authentication system according to claim 5, wherein said loading means comprises:
and the inertial loading of the robot joint can be realized.
7. The robot verification system of claim 6, wherein the physical verification platform is further capable of testing the real motion situation of the robot joints, so as to obtain the actual motion trajectory of each joint.
8. A method of robot authentication comprising the steps of:
s1, designing in a simulation system according to operation tasks needing to be carried out by the robot, and realizing the motion planning of the robot;
s2, performing joint feedforward torque calculation on each joint motion track of the robot obtained by planning, performing sequence splitting on the joint feedforward torque calculation, and decomposing the joint feedforward torque into motion track curves of each joint;
s3, splitting the sequence of the obtained joint feedforward torque, and decomposing to obtain a feedforward torque curve of each joint;
s4, sending the motion tracks and the feedforward moments of all joints obtained by splitting the sequence to all actual mechanical arm joints for motion control;
s5, performing analog simulation on the whole robot to obtain an actual moment value of a joint;
s6, obtaining the actual torque curve of each joint through sequence splitting of the torque values of all joints, and using the actual torque curve for joint load simulation;
s7, testing the real motion situation of the robot joint to obtain the actual motion track of each joint;
and S8, performing sequence integration on the actual motion tracks of all joints, driving a simulation model to obtain the actual torque value of the next joint, and turning to the step S6.
9. A verification method for a robot according to claim 8, wherein each joint is tested in time division in step S7.
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| CN202110972681.8A CN115871022A (en) | 2021-08-24 | 2021-08-24 | Robot dynamics verification method based on sequence splitting method |
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2021
- 2021-08-24 CN CN202110972681.8A patent/CN115871022A/en active Pending
Patent Citations (9)
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