CN116117791A - Current-based robot tail end flexible control method, device, storage medium and equipment - Google Patents
Current-based robot tail end flexible control method, device, storage medium and equipment Download PDFInfo
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- CN116117791A CN116117791A CN202211510221.4A CN202211510221A CN116117791A CN 116117791 A CN116117791 A CN 116117791A CN 202211510221 A CN202211510221 A CN 202211510221A CN 116117791 A CN116117791 A CN 116117791A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention relates to the technical field of automation, in particular to a current-based robot tail end flexible control method, which can automatically compensate the problem of a water bottle in a gesture by introducing joint flexibility of a robot and introducing a certain impulse when the robot contacts a plane to be assembled, does not need a six-dimensional moment sensor, effectively reduces cost and can improve assembly adjustment efficiency.
Description
Technical Field
The invention relates to the technical field of automation, in particular to a current-based robot tail end flexible control method, a device, a storage medium and equipment.
Background
Automatic tool assembly realized through a robot is a mechanical design commonly used at present, and the specific structure is as follows: the robot has a long connecting rod at its end, a tool to be assembled is at its end, and the robot end is moved to a flexible working table, and force control is performed after the position is aligned to the hole, so that the tool to be assembled at its end is assembled with the required tool.
As the machine table can shake in the use process, the workbench is flexible and cannot be guaranteed to be in a horizontal state all the time. Therefore, the teaching robot position cannot be maintained in a state where the tool table is at the teaching time every time it is used, and there is a possibility that the teaching robot position may be inclined to some extent. At this time, the robot is continuously pressed down according to force control, so that the connecting rod is not perpendicular to the workbench when the robot moves along the z direction, and the assembly effect is poor. At this time, force control is required to perform feedback not only in the z direction but also in both the rx and ry rotation directions.
The greatest problem in achieving tip force fitting based on current is that the external force of the current estimation is inaccurate. For the application scene, if the requirements are that the tail end of the robot and the plane of the object to be assembled are kept horizontal according to the process requirements, and the plane of the object to be assembled cannot be ensured to be horizontal to the teaching point due to the influence of vibration and platform flexibility in actual use, when the robot is assembled, not only the z direction of the robot needs to keep a certain set force, but also the torque for ensuring assembly contact is 0 in the gesture direction. And the accuracy of external force limited by the current estimation of the robot is influenced, and for a current-based robot dynamics model, the control of the torque direction of the expected observed external force being 0 cannot be realized, and the error in the rotation posture of the robot is large, so that the robot cannot actively adjust.
In order to solve the above problems, for example, patent document CN201710558197.4 discloses a method and system for assembling shaft holes of an industrial robot, which uses a joint torque sensor to measure the output torque of each joint, uses the torque value to calculate the contact force vector between the assembly shaft and the assembly hole, controls the movement of the industrial robot, and enables the assembly shaft and the assembly hole to contact according to the set contact force vector under the condition of unknown environmental change and unknown error of the assembly shaft hole, thus completing the shaft hole assembly task. The six-dimensional torque sensor is introduced into the robot, the gesture of the robot is judged through the torque sensor, so that the gesture of the robot always keeps horizontal with the plane of an object to be assembled during assembly operation, but the six-dimensional torque sensor has high cost, and the state of the robot can be judged only by checking the readings in real time on the premise of needing working current, so that the gesture of the robot is adjusted according to the readings, the efficiency is low, and the cost is high.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a current-based robot tail end flexible control method, which can introduce the joint flexibility of a robot and a certain impulse when the robot contacts a plane to be assembled in a current-based robot dynamics model, so that the robot tail end can automatically compensate the problem of a water bottle in the gesture, and has the advantages of low cost and high efficiency.
In order to solve the technical problems, the invention discloses a current-based robot tail end flexible control method, which comprises the following steps:
s1, acquiring the current gesture of a robot, and acquiring the expected assembly motion direction of the robot and the expected flexible direction of a joint according to the gesture of the robot;
s2, calculating the flexibility required by each joint of the robot based on a jacobian matrix of the current posture of the robot according to the expected assembly movement direction of the robot and the expected flexibility direction of the joint; s3, after the flexibility of the joints corresponding to the robot is adjusted according to the calculated flexibility required by each joint of the robot, collecting the current of the joints, establishing a dynamic model of the joints of the robot based on the current, and acquiring an estimated value F of the external force of the current of the robot according to the dynamic model of the joints estimate ；
S4, estimating F based on external force estimate An impedance control model of the external force of the robot is established, and an estimated value F is estimated according to the speed, the acceleration and the external force of the end effector of the robot estimate And performing impedance control by the expected external force of the end effector of the robot, so that the assembly of the end effector of the robot is stable.
Preferably, in the step S2, the direction of the expected motion of the robot and the direction of the expected flexibility are determined by jacobian matrix of the current posture of the robot.
Preferably, the flexibility required by each joint of the robot is calculated according to the following calculation formula:
τ＝J T F；
wherein τ is a moment vector of each joint of the robot, J represents a jacobian matrix of the current pose of the robot, and F represents an external force vector expected at the tail end of the robot.
Preferably, in the method for adjusting the flexibility of the corresponding joint required by the robot, the joint flexibility is adjusted by PID control of the robot motion.
Further, joint flexibility of the robot is adjusted by scaling down parameters of PID control of the robot motion.
Preferably, the impedance control model is established as follows:
wherein M and B are respectively inertia and damping coefficients to be debugged in the impedance control model, x is the pose in the Cartesian direction,
for the speed of the end effector of the robot, < +.>
Acceleration of end effector of robot, F d External force required for desired assembly, F estimate Is an external force value observed based on a current dynamics model.
Preferably, the inertia M and the damping coefficient B are adjusted, and a fusion coefficient a, a fusion coefficient B and an external force error e are set;
let the required inertia of the robot when contacting and stabilizing with the position to be assembled be M 1 The damping coefficient is B 1 ；
Let the inertia required by the robot at the time of quick pressing down be M 2 The damping coefficient is B 2 ；
Making the inertia m=am used in the impedance model 1 +bM 2 Damping coefficient b=ab 1 +bB 2 ；
The relation among the fusion coefficient a, the fusion coefficient b and the external force error e is as follows:
the second aspect of the invention discloses a current-based robot end flexible assembly device, comprising:
the tail end of the robot is used for installing a tool to be assembled and driving the tool to be assembled to move;
the central control module is used for acquiring the gesture of the robot, judging the expected assembly motion direction and the expected joint flexibility direction of the robot according to the gesture before the robot is assembled, calculating the flexibility of each joint of the robot by combining the judging result with the jacobian matrix of the current gesture of the robot, acquiring the joint current of the robot after the joint flexibility of the robot is adjusted according to the calculating result, establishing a joint dynamics model of the robot based on the current, acquiring a current external force estimated value of the robot through the dynamics model, establishing an impedance control model of the external force of the robot based on the external force estimated value, and regulating the assembly stability of the end effector of the robot by controlling the impedance control model.
A third aspect of the present invention discloses a computer-readable storage medium, characterized in that: the computer readable storage medium stores a computer program which, when executed by a processor, implements the steps of the robot protection control method based on dynamic current detection.
The fourth aspect of the present invention discloses an electronic device, wherein the electronic device includes:
a processor; the method comprises the steps of,
a memory arranged to store computer executable instructions that, when executed, cause the processor to perform the steps of the current-based robot tip compliance control method.
The invention has the beneficial effects that:
according to the current-based robot tail end flexible control method, the joint flexibility of the robot is introduced, and a certain impulse is introduced when the robot contacts with the plane to be assembled, so that the robot tail end can automatically compensate the horizontal problem of the gesture, a six-dimensional torque sensor is not needed, the cost is effectively reduced, and the assembly and adjustment efficiency can be improved.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
fig. 2 is a model diagram of an external force control model of the present invention.
Detailed Description
The invention will be further described with reference to examples and drawings, to which reference is made, but which are not intended to limit the scope of the invention. The present invention will be described in detail below with reference to the accompanying drawings.
Embodiment one:
the current-based robot tail end flexible control method provided by the embodiment can be applied to a central control module of a robot, as shown in fig. 1, and comprises the following steps:
optionally, moving the robot to the device to be assembled; if the robot moves to the position above the position to be assembled under the external control, waiting for the next control instruction;
s1, acquiring the current gesture of a robot, and acquiring the expected assembly motion direction of the robot and the expected flexible direction of a joint according to the gesture of the robot; the direction of the movement of the assembly expected by the robot is the direction of the force required by the robot, for example, in an ideal state, the direction of the movement expected by the assembly is the straight line descending in the z direction, or the combined movement in the x, y and z directions, and the required joint flexibility direction is the passive flexibility direction of the joint, such as rotation; optionally, the required movement direction and the flexible direction can be judged and calculated through the jacobian matrix of the current gesture of the robot, for example, the assembly movement direction and the flexible direction of the joint required by the current robot can be judged according to the current jacobian matrix and the standard descending gesture of the robot;
s2, calculating the flexibility required by each joint of the robot according to the expected assembly movement direction of the robot and the expected flexibility direction of the joint by combining with the jacobian matrix of the current posture of the robot; for example, in six moments of the robot, two joints need to be flexible, namely, the rotation adjustment direction is carried out, and other joints remain inactive;
s3, after the flexibility of the joints corresponding to the robot is adjusted according to the calculated flexibility required by each joint of the robot, collecting the current of the joints, establishing a dynamic model of the joints of the robot based on the current, and acquiring an estimated value F of the external force of the current of the robot according to the dynamic model of the joints esiimate The method comprises the steps of carrying out a first treatment on the surface of the The method comprises the steps of establishing a dynamic model of a joint and estimating external force of a robot based on current, wherein the dynamic model of the joint and the external force estimated value of the robot based on current are the prior art, and detailed description of the embodiment of the specific process is omitted;
s4, estimating F based on external force estimate An impedance control model of the external force of the robot is established, and an estimated value F is estimated according to the speed, the acceleration and the external force of the end effector of the robot estimate And performing impedance control by the expected external force of the end effector of the robot, so that the assembly of the end effector of the robot is stable. The expected external force of the end effector of the robot is related to the expected assembly movement direction of the robot, and the expected external force is used for controlling the robot to move towards the expected assembly movement direction.
Specifically, in the prior art, the accuracy of external force estimation based on current is far from enough for the regulation and control of the robot, because the mode only estimates the moment of the robot in the z direction, but does not actively adjust the conditions of shaking and the like of the robot in the descending process, the assembly effect is poor; the current-based external force estimation is avoided by adopting a regulation and control mode of a six-dimensional torque sensor, but the cost is high and the efficiency is low. Therefore, the arrangement of the embodiment introduces flexible adjustment of the joints of the robot and adjustment of impulse when the robot contacts with the assembly platform on the premise of external force estimation based on current, compensates the precision of the external force of the current estimation through the flexible adjustment of the joints, performs impedance control on the external force of the robot through an impedance control model in combination with the external force value of the current estimation, and can adjust the moment of the robot in other directions when the robot moves up and down in the z direction, so that the robot can actively adjust the assembly position adapted to the assembly platform, and the assembly quality is ensured.
The specific method is as follows: after the robot moves to the device to be assembled, judging the movement direction of the robot to be assembled and whether each joint of the robot needs to be flexible, and adjusting the flexibility of the joints of the robot according to the judgment; after the flexibility of the joint is regulated, the current of the joint, such as the current of a motor of the joint, is obtained, which is the prior art, and a dynamic model of the joint is established under the current, so that an estimated value F of the external force of the robot can be obtained according to the dynamic model of the joint subjected to the flexibility regulation compensation estimate Estimating F according to the external force estimate The method comprises the steps of establishing an external force impedance control model of the robot, enabling the robot to move along a required direction, tracking and regulating the assembly external force of the robot through the external force impedance control model, adjusting the impedance control model according to the speed and the acceleration of an end effector of the robot and the external force of the end effector of the expected robot, and then enabling the robot to obtain a fused state in two states of rapid descent and stable assembly through adjusting the inertia and the damping of the impedance control model, so that stable assembly can be kept at a certain assembly speed. According to the method, the precision of current-based external force value estimation can be compensated by flexibly adjusting the joints before assembly, and the robot is regulated and controlled during assembly through the impedance control model, so that the robot can be stably assembled at a certain speed, the assembly efficiency is not weakened, the assembly quality is improved, and the cost is reduced.
Further, after judging the direction and the flexible direction of the robot to be moved, it is necessary to calculate whether each joint of the robot needs flexibility, and the calculation mode is as follows:
τ＝J T F；
where τ is a moment vector (Nm) of each joint of the robot, J is a jacobian matrix of the current pose of the robot, and F is an external force vector (N, nm) expected at the end of the robot.
Specifically, when the robot is assembled, it is necessary to determine how much motion (i.e., moment vector) each joint will bring in the direction of the cartesian desired force and the direction in which flexibility is desired to be introduced in the current assembly pose, respectively. For example, in this embodiment, the robot end bar is moved downward into the tool slot, so that the force control direction required is the control direction z=40n, and the end bar is perpendicular to the tool slot when assembly is desired, so that the torque of rx and ry is not desired in the tool direction, and F can be set d ＝[0,0,40,0,0,0](six parameters represent six joints respectively) can be calculated to obtain a group of tau d The method comprises the steps of carrying out a first treatment on the surface of the Let F c ＝[0,0,0,1,1,0]The joint moment tau contributing to the rotation of the tip force can be obtained c The method comprises the steps of carrying out a first treatment on the surface of the It can be obtained that in this position we need the joints 1, 2, 3, 6 to maintain rigid control and the joints 4,5 to switch on flexible control.
The joint flexibility adjusting mode can be that the PID parameters of the joint module of the robot are reduced in an equal proportion, the influence of the integral effect is reduced, for example, the integral PID parameters are required to be adjusted to 20% through debugging, and the joint PID parameters are changed to 20% of those in normal movement when the flexible adjustment starts; the specific PID parameters are required to be adjusted, and the PID parameters can be obtained according to actual conditions. In the use case of the present embodiment, the desired movement direction of the assembly is translation and the desired flexible direction is rotation, and this combination can generally achieve a better assembly effect.
Further, the external force control model of the present embodiment may be an impedance control model.
As shown in fig. 2, the impedance control model is established as follows:
wherein M and B are respectively inertia and damping coefficients to be debugged in the impedance control model, x is the pose in the Cartesian direction,
for the speed of the end effector of the robot, < +.>
Acceleration of end effector of robot, F d External force required for desired assembly, F estimate Is an external force value observed based on a current dynamics model.
Specifically, in addition to the desired z-direction having a set force (i.e., applying an external force), the observed force for the other directions may not be 0 due to the model error, and thus the external force error for the other directions is forced to be set to 0, so that the robot moves exactly in the z-direction. No other direction unexpected actions due to model errors are introduced. According to the above calculation of the flexibility of the robot joint, it is necessary to passively compensate for the posture unevenness by the introduced 4,5 joint flexibility. Then a large impulse is needed at the moment of external force contact (the tail end of the robot is contacted with the platform to be assembled), so that the passive adjustment action of the flexible joint can be caused, and the whole assembly posture is leveled. A larger contact speed is required at this time, and a smaller inertia M and damping coefficient B are required according to the impedance model.
Adjusting the inertia M and the damping coefficient B, and setting a fusion coefficient a, a fusion coefficient B and an external force error e; wherein a and b are the linear fusion coefficients of two [0,1 ];
let the required inertia of the robot when contacting and stabilizing with the position to be assembled be M 1 The damping coefficient is B 1 ；
Let the inertia required by the robot at the time of quick pressing down be M 2 The damping coefficient is B 2 ；
Making the inertia m=am used in the impedance model 1 +bM 2 Damping coefficient b=ab 1 +bB 2 ；
The relation among the fusion coefficient a, the fusion coefficient b and the external force error e is as follows:
in this embodiment, the state that the robot is in contact with the station to be assembled is stable, and the state that the robot is rapidly pressed down is mainly used for adjusting the inertia M and the damping coefficient B by the harmony of the two states, one is the basic impedance model parameter, namely
One is the impedance model parameter after the two states are fused
bB 2 )/>
The fusion rule is to perform linear fusion according to the magnitude of the external force error e.
From the test it is obtained that the required inertia M of the robot when the robot is in contact with the station to be assembled is stable 1 Damping coefficient b=40 1 =6000, required inertia M at rapid depression 2 Damping coefficient b=2.5 2 ＝2000；
The difference is that two different impedance model parameters have different effects, one is that the robot is relatively fast in speed when being pressed down, which is beneficial to exciting the passive compliance of the joint, but affecting the stability. Another set of parameters is more stable but does not easily excite the passive flexibility of the joint. Therefore, in the action process, the two sets of parameters are linearly fused according to the external force error value e, and the external force error e changes in the interval of 0 and 10N, so that fusion can occur. For example, the error of the force is 5N, then a is 0.5 and b is 0.5 according to the rule, then the current impedance parameter can be calculated, and a control parameter of an impedance model which is stable and can maintain a certain speed can be obtained.
Therefore, the inertia M and the damping coefficient B can be adjusted by adjusting the fusion coefficients a and B, so that the adjustment of the impedance control model in the embodiment is satisfied, the stability of the robot can be kept when the robot contacts with a platform to be assembled and during the assembly, the assembly quality is ensured, the assembly efficiency is also ensured, and the purpose that the pose of the robot can be automatically adjusted by an external force estimation mode based on current is realized. Compared with the impedance control model in the prior art, the impedance control model of the embodiment is based on the external force value estimated by the robot joint flexibility compensation current, so that the whole control can be flexibly adjusted, and the zero position of the design can not be forced to return, thereby better performing external force control of the robot.
Embodiment two:
the embodiment provides a flexible assembly device of a tail end of a robot based on current, which specifically comprises a robot and a central control module, wherein the tail end of the robot is used for installing a tool to be assembled and driving the tool to be assembled to move, the central control module is used for acquiring the gesture of the robot, judging the expected assembly motion direction and the expected joint flexibility direction of the robot according to the gesture before the robot is assembled, calculating the flexibility of each joint of the robot by combining the judging result with a jacobian matrix of the current gesture of the robot, acquiring the joint current of the robot and establishing a joint dynamics model of the robot based on the current after the joint flexibility of the robot is regulated according to the calculating result, acquiring a current external force estimated value of the robot through the dynamics model, establishing an impedance control model of the external force of the robot based on the external force estimated value, and regulating the stability of the assembly of an end effector of the robot by controlling the impedance control model;
wherein, the central control module includes:
the acquisition unit is used for acquiring data to be acquired and acquired, such as the gesture of the robot, the direction of the robot to be moved, the direction of the joint to be flexible, the current of the joint after the joint is flexible is adjusted, the external force estimation of the robot based on the current and the like;
the adjusting unit is used for calculating the flexibility required by each joint of the robot according to the direction of the robot to be moved and the flexibility direction, and adjusting the flexibility of each joint;
and the regulating and controlling unit is used for controlling the external force of the robot through the impedance control model when the robot is assembled, so that the assembling action of the robot is kept stable.
The central control module can be selected as a control center system of the robot, the acquisition unit can be a unit acquired by the control center system from each sensor, and the adjustment unit and the regulation unit can be different or same executors in the control system, such as a PLC control center. Specifically, the tool to be assembled is installed at the tail end of the robot, which is not described in detail herein, when the method is applied, the gesture of the robot on the platform to be assembled is mainly obtained through the obtaining module, for example, the angle and the height of each joint of the robot are obtained, the direction of the robot to be moved and the required flexibility when the robot performs the assembling work are judged, such as translation, lifting and the like, the flexibility such as rotation and the like are judged, the flexibility required by each joint of the robot is calculated according to the flexibility required by the robot and the movement direction through the adjusting module, for example, the angle required to be rotated by each joint is calculated according to the calculation result, the robot is automatically controlled to perform gesture adjustment (including joint flexibility adjustment), then the robot is controlled to move along the direction required to be assembled, for example, the robot is required to descend along the z direction, an external force (such as external force based on current estimation) is required to be established through the control module, the impedance control model is optionally selected, the inertia M and the damping coefficient B of the impedance control model are adjusted, the robot is combined to be in a fast descending state and a stable state, the current can be adjusted, and the automatic assembling quality can be guaranteed when the robot is assembled with the platform, and the automatic assembling quality is also based on the purpose of the robot is guaranteed.
Embodiment III:
the present embodiment discloses a computer-readable storage medium storing a computer program for electronic data exchange, wherein the computer program causes a computer to execute the steps of the current-based robot tip flexibility control method described in the embodiment.
Embodiment four:
the present embodiment discloses a computer program product comprising a non-transitory computer readable storage medium storing a computer program, and the computer program is operable to cause a computer to perform some or all of the steps of the current-based robot tip flexibility control method described in embodiment one.
Fifth embodiment:
the embodiment discloses an electronic device, wherein the electronic device includes:
a processor; and a memory arranged to store computer executable instructions (program code), the memory may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. The memory has storage space storing program code for performing any of the method steps in the embodiments. For example, the memory space for the program code may include individual program code for implementing the various steps in the above method, respectively. The program code can be read from or written to one or more computer program products. These computer program products comprise a program code carrier such as a hard disk, a Compact Disc (CD), a memory card or a floppy disk. Such a computer program product is typically the computer readable storage medium of embodiment four. The computer-readable storage medium may have storage units such as memory segments, memory spaces, and the like arranged similarly to the memory in the electronic device of the present embodiment. The program code may be compressed, for example, in a suitable form. Typically, the memory unit stores program code for performing the steps of the method according to the invention, i.e. program code readable by a processor such as this, which when run by an electronic device causes the electronic device to perform the steps of the method described above.
The present invention is not limited to the preferred embodiments, but is intended to be limited to the following description, and any modifications, equivalent changes and variations in light of the above-described embodiments will be apparent to those skilled in the art without departing from the scope of the present invention.
Claims (10)
1. The current-based robot tail end flexible control method is characterized by comprising the following steps of:
s1, acquiring the current gesture of a robot, and acquiring the expected assembly motion direction of the robot and the expected flexible direction of a joint according to the gesture of the robot;
s2, calculating the flexibility required by each joint of the robot based on a jacobian matrix of the current posture of the robot according to the expected assembly movement direction of the robot and the expected flexibility direction of the joint;
s3, after the flexibility of the joints corresponding to the robot is adjusted according to the calculated flexibility required by each joint of the robot, collecting the current of the joints, establishing a dynamic model of the joints of the robot based on the current, and acquiring an estimated value F of the external force of the current of the robot according to the dynamic model of the joints estimate ；
S4, estimating F based on external force estimate An impedance control model of the external force of the robot is established, and an estimated value F is estimated according to the speed, the acceleration and the external force of the end effector of the robot estimate And performing impedance control by the expected external force of the end effector of the robot, so that the assembly of the end effector of the robot is stable.
2. The method according to claim 1, wherein in the step S1, the direction of the desired motion and the direction of the desired flexibility of the robot are determined by jacobian of the current posture of the robot.
3. The method for controlling the flexibility of the tail end of the robot based on the current according to claim 1, wherein the flexibility required by each joint of the robot is calculated according to the following calculation formula:
τ＝J T F；
wherein τ is a moment vector of each joint of the robot, J represents a jacobian matrix of the current pose of the robot, and F represents an external force vector expected at the tail end of the robot.
4. A method for controlling the flexibility of a current-based robot tip according to claim 1 or 3, wherein the method for adjusting the flexibility of the corresponding joint required by the robot is performed by PID control of the robot motion.
5. The method for controlling the flexibility of the tail end of the robot based on the current according to claim 4, wherein the method comprises the following steps: the joint flexibility of the robot is adjusted by scaling down the parameters of the PID control of the robot motion.
6. The method for controlling the flexibility of the tail end of the robot based on the current according to claim 1, wherein the established impedance control model is as follows:
wherein M and B are respectively inertia and damping coefficients to be debugged in the impedance control model, x is the pose in the Cartesian direction,
for the speed of the end effector of the robot, < +.>
Acceleration of end effector of robot, F d External force required for desired assembly, F estimate Is an external force value observed based on a current dynamics model.
7. The current-based robot end flexibility control method according to claim 6, wherein inertia M and damping coefficient B are adjusted, and fusion coefficient a, fusion coefficient B and external force error e are set;
let the required inertia of the robot when contacting and stabilizing with the position to be assembled be M 1 The damping coefficient is B 1 ；
Let the inertia required by the robot at the time of quick pressing down be M 2 The damping coefficient is B 2 ；
Making the inertia m=am used in the impedance model 1 +M 2 Damping coefficient b=ab 1 +bB 2 ；
The relation among the fusion coefficient a, the fusion coefficient b and the external force error e is as follows:
8. the utility model provides a terminal flexible assembly quality of robot based on electric current which characterized in that: the robot comprises a robot body, wherein the tail end of the robot body is used for installing a tool to be assembled and driving the tool to be assembled to move;
the central control module is used for acquiring the gesture of the robot, judging the expected assembly motion direction and the expected joint flexibility direction of the robot according to the gesture before the robot is assembled, calculating the flexibility of each joint of the robot by combining the judging result with the jacobian matrix of the current gesture of the robot, acquiring the joint current of the robot after the joint flexibility of the robot is adjusted according to the calculating result, establishing a joint dynamics model of the robot based on the current, acquiring a current external force estimated value of the robot through the dynamics model, establishing an impedance control model of the external force of the robot based on the external force estimated value, and regulating the assembly stability of the end effector of the robot by controlling the impedance control model.
9. A computer-readable storage medium, characterized by: the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the robot protection control method based on dynamic current detection as claimed in any one of claims 1 to 6.
10. An electronic device, wherein the electronic device comprises:
a processor; the method comprises the steps of,
a memory arranged to store computer executable instructions which when executed cause the processor to perform the steps of the current-based robot tip flexibility control method of any one of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211510221.4A CN116117791A (en) | 2022-11-29 | 2022-11-29 | Current-based robot tail end flexible control method, device, storage medium and equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202211510221.4A CN116117791A (en) | 2022-11-29 | 2022-11-29 | Current-based robot tail end flexible control method, device, storage medium and equipment |
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