CN116125786A - Hydraulic robot control method and system - Google Patents
Hydraulic robot control method and system Download PDFInfo
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- CN116125786A CN116125786A CN202211489100.6A CN202211489100A CN116125786A CN 116125786 A CN116125786 A CN 116125786A CN 202211489100 A CN202211489100 A CN 202211489100A CN 116125786 A CN116125786 A CN 116125786A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P.I., P.I.D.
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- 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]
Abstract
The invention is applicable to the technical field of robot control, and provides a hydraulic robot control method and a hydraulic robot control system, wherein the method comprises the following steps: acquiring a motion instruction, and analyzing the motion instruction to extract motion information containing the target position and the speed; generating a linear interpolation instruction and a joint interpolation instruction according to the motion information and the current gesture of the robot; the joint angle control instruction obtained by the joint interpolation instruction and the straight line interpolation instruction after inverse calculation is stored in a joint angle queue; sequentially executing the joint angle control instructions in the joint angle queue until the joint angle queue is empty; the number of the shaft control threads is determined according to the number of the shafts in the actual robot system, only the robot kinematics algorithm and the number of the shafts are required to be changed, the adaptability is wide, and the problem that the proportional valve dead zone is compensated by adopting the PID algorithm with feedforward is solved, so that the control precision is higher.
Description
Technical Field
The invention belongs to the technical field of robot control, and particularly relates to a hydraulic robot control method and system.
Background
The traditional industrial robot generally uses a joint form that a servo motor and a harmonic reducer are combined, the hydraulic robot uses a hydraulic cylinder for transmission, the joint structure is simple and compact, stepless speed regulation can be realized without other auxiliary components, direct driving can be realized, and the mechanical efficiency is high.
However, the hydraulic robot is generally controlled by a handle or by wireless remote control, manual intervention is required for master-slave control and remote control, and the hydraulic robot is complex in control, poor in universality and limited in application field.
Disclosure of Invention
The embodiment of the invention aims to provide a hydraulic robot control method and a hydraulic robot control system, which aim to solve the problems in the prior art determined in the background art.
The embodiment of the invention is realized in such a way that a hydraulic robot control method comprises the following steps:
acquiring a motion instruction, and analyzing the motion instruction to extract motion information containing the target position and the speed;
generating a linear interpolation instruction and a joint interpolation instruction according to the motion information and the current gesture of the robot;
the joint angle control instruction obtained by the joint interpolation instruction and the straight line interpolation instruction after inverse calculation is stored in a joint angle queue;
and sequentially executing the joint angle control instructions in the joint angle queue until the joint angle queue is empty.
It is another object of an embodiment of the present invention to provide a hydraulic robot control system, the system comprising:
the motion instruction analysis module is used for acquiring a motion instruction and analyzing the motion instruction to extract motion information containing the target position and the speed;
the interpolation instruction generation module is used for generating a linear interpolation instruction and a joint interpolation instruction according to the motion information and the current gesture of the robot;
the joint angle queue generating module is used for storing joint angle control instructions obtained by joint interpolation instructions and the straight line interpolation instructions after inverse calculation into the joint angle queue;
the instruction execution module is used for sequentially executing the joint angle control instructions in the joint angle queue until the joint angle queue is empty.
The number of the shaft control threads is determined according to the number of the shafts in the actual robot system, only the robot kinematics algorithm and the number of the shafts are required to be changed, the adaptability is wide, and the problem that the proportional valve dead zone is compensated by adopting the PID algorithm with feedforward is solved, so that the control precision is higher.
Drawings
Fig. 1 is a diagram of a hydraulic robot control method according to an embodiment of the present invention;
fig. 2 is a step chart of sequentially executing joint angle control instructions in a joint angle queue according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a PID control algorithm with feedforward according to an embodiment of the invention;
FIG. 4 is a flowchart of a method for sequentially executing joint angle control commands in a joint angle queue according to an embodiment of the present invention;
FIG. 5 is a flowchart of a PID control algorithm with feedforward according to an embodiment of the invention;
FIG. 6 is a flowchart of generating a straight line interpolation instruction and a joint interpolation instruction according to an embodiment of the present invention;
fig. 7 is a block diagram of a hydraulic robot control system according to an embodiment of the present invention;
FIG. 8 is a block diagram illustrating a configuration of an instruction execution module according to an embodiment of the present invention;
fig. 9 is a block diagram of an interpolation instruction generation module according to an embodiment of the present invention;
FIG. 10 is a block diagram of the internal architecture of a computer device in one embodiment.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
It will be understood that the terms "first," "second," and the like, as used herein, may be used to describe various elements, but these elements are not limited by these terms unless otherwise specified. These terms are only used to distinguish one element from another element. For example, a first xx script may be referred to as a second xx script, and similarly, a second xx script may be referred to as a first xx script, without departing from the scope of the present application.
As shown in fig. 1, in one embodiment, a hydraulic robot control method is provided, which may specifically include the following steps:
step S100, a motion instruction is acquired, and the motion instruction is analyzed to extract motion information containing the target position and the speed.
In the embodiment of the invention, after the demonstrator acquires the motion instruction, the motion instruction is analyzed through the analyzer, so that the motion information comprising the target position and the speed, namely the detailed execution action of the hydraulic robot, can be obtained.
In the embodiment of the invention, the motion planning thread and the shaft control thread are established when the system is initialized, wherein the number of the shaft control threads is established according to the actual number of shafts in the system, and each shaft corresponds to one shaft control thread.
And step 200, generating a linear interpolation instruction and a joint interpolation instruction according to the motion information and the current gesture of the robot.
In the embodiment of the invention, the generation of the linear interpolation instruction and the joint interpolation instruction can be realized through a motion planner, namely the linear interpolation instruction fits the curve between two points of the curve by using a plurality of linear segments, and when the number of the linear segments is enough, the linear interpolation instruction can be very close to the original curve; the joint interpolation instruction is that the robot joint moves from one position to another position under the condition of low requirement on path precision, and the path between the two positions is not necessarily a straight line, but the fastest track is selected. Typically the fastest track is not the shortest track, i.e. not straight, and the curved track is faster than the straight track because the robot axis performs a turning motion.
Step S300, the joint angle control instruction obtained by the joint interpolation instruction and the inverse-solved straight line interpolation instruction is stored in a joint angle queue.
In the embodiment of the invention, for the linear interpolation instruction, the angle of each joint of the robot needs to be rotated is converted through inverse solution of the robot kinematics, and the joint angle control instruction obtained through inverse solution and the joint angle control instruction obtained through joint interpolation instruction are stored in a joint angle queue to wait for execution.
Step S400, the joint angle control instructions in the joint angle queue are sequentially executed until the joint angle queue is empty.
In the embodiment of the invention, when the joint angle control instruction is executed, the opening degree of the proportional valve is controlled by the PID controller according to the current position of the robot joint, so that the control of the joint angle can be realized.
As shown in fig. 2 and 4, in one embodiment, step S400 may specifically include the steps of:
step S401, acquiring a joint angle control instruction.
Step S402, acquiring an articulation target value from the articulation angle control command.
Step S403, controlling the opening degree of the proportional valve through a PID controller according to the joint movement target value and the joint current position so as to control the joint angle.
Step S404, judging whether the joint angle queue is empty, and when the joint angle queue is not empty, continuing to execute the joint angle control instruction until the joint angle queue is empty.
In the embodiment of the invention, in the operation period of each PID, firstly, a joint angle control instruction is obtained from a joint angle queue, a joint movement target value is obtained according to the joint angle control instruction, then, according to the current position of a joint, the execution of the joint angle control instruction is realized by controlling the opening degree of a proportional valve through a PID controller, and other joint angle control instructions are sequentially executed until the joint angle queue is empty, and the next movement command is waited.
Preferably, in the embodiment of the invention, when the opening degree of the proportional valve is controlled by the PID controller, the dead zone of the proportional valve is compensated by a PID control algorithm with feedforward.
Because the valve core has a certain overlapping coverage to the valve port when the valve core is in the middle position in the manufacturing process of the hydraulic proportional valve, the overlapping coverage can lead the hydraulic proportional valve not to respond to the movement of the valve core in a certain input signal range. The PID control algorithm with feedforward can be adopted to compensate the dead zone of the proportional valve, so that the system responsiveness is improved.
As shown in fig. 5, in one embodiment, the step of compensating for the dead zone of the proportional valve by the PID control algorithm with feedforward specifically includes:
and a step a, obtaining the minimum opening degree of the proportional valve, wherein the minimum opening degree is used as a feedforward value, and the minimum opening degree is used for representing the minimum opening angle capable of driving the hydraulic cylinder to move.
In the embodiment of the present invention, the minimum opening degree is related to the above-mentioned overlapping coverage amount.
And b, accumulating the feedforward value and the opening degree of the proportional valve output by the PID controller, and outputting the accumulated feedforward value and the opening degree of the proportional valve to the proportional valve as a final result of the PID controller.
In the embodiment of the invention, when the proportional valve is controlled, the minimum opening degree of the proportional valve is fully considered, so that the action execution of the robot is more accurate.
As shown in fig. 3, in practical application, the PID controller sends an opening degree command to the hydraulic proportional valve through the CAN bus, so that the hydraulic swing cylinder rotates, the encoder installed at the tail end of the hydraulic swing cylinder feeds back position information to the PID controller through the CAN bus, and the PID controller controls the rotation angle of the hydraulic cylinder by setting the opening degree of the hydraulic valve, so as to realize closed-loop control.
As shown in fig. 6, in one embodiment, step S200 may specifically include the following steps:
step S201, the current gesture of the robot and the motion information at least comprising the target position, the speed and the acceleration are obtained.
Step S202, calculating the motion time of each axis of the robot according to the current gesture and the motion information of the robot.
In the embodiment of the invention, 7 sections of S-shaped acceleration curve algorithm can be used for respectively calculating the movement time of each shaft, wherein the 7 sections of S-shaped acceleration curve algorithm belongs to the prior art and redundant expression is not carried out.
In step S203, the longest movement time is taken as the time of the synchronous movement, and the position planning curve of each axis is recalculated.
Step S204, generating a straight line interpolation instruction and a joint interpolation instruction according to the position planning curve.
As shown in fig. 7, in one embodiment, a hydraulic robot control system is provided, which may specifically include a motion command parsing module 100, an interpolation command generating module 200, a joint angle queue generating module 300, and a command executing module 400.
The motion instruction analysis module 100 is configured to obtain a motion instruction, and analyze the motion instruction to extract motion information including a target position and a target speed;
the interpolation instruction generating module 200 is configured to generate a linear interpolation instruction and a joint interpolation instruction according to the motion information and the current gesture of the robot;
the joint angle queue generating module 300 is configured to store a joint angle control instruction obtained by a joint interpolation instruction and a straight line interpolation instruction after inverse calculation into a joint angle queue;
the instruction execution module 400 is configured to sequentially execute the joint angle control instructions in the joint angle queue until the joint angle queue is empty.
As shown in fig. 8, in one embodiment, the instruction execution module 400 specifically includes an instruction acquisition unit 401, an articulation target value acquisition unit 402, an articulation angle control unit 403, and a queue determination unit 404.
The instruction obtaining unit 401 is configured to obtain a joint angle control instruction;
the articulation target value acquisition unit 402 is configured to acquire an articulation target value from the joint angle control instruction;
the joint angle control unit 403 is configured to control the opening degree of the proportional valve through a PID controller according to the joint motion target value and the joint current position, so as to control the joint angle;
the queue determining unit 404 is configured to determine whether the joint angle queue is empty, and when the joint angle queue is not empty, continue to execute the joint angle control instruction until the joint angle queue is empty.
Preferably, the proportional valve dead zone is compensated by a PID control algorithm with feedforward when the opening degree of the proportional valve is controlled by the PID controller.
As shown in fig. 9, in one embodiment, the interpolation instruction generation module 200 includes:
an information acquisition unit 201 for acquiring a current posture of the robot and motion information including at least a target position, a speed, and an acceleration;
a motion time calculation unit 202, configured to calculate a motion time of each axis of the robot according to the current gesture and the motion information of the robot;
a re-planning unit 203, configured to re-calculate a position planning curve of each axis with the longest movement time as the time of the synchronous movement;
the instruction generating unit 204 is configured to generate a straight line interpolation instruction and a joint interpolation instruction according to the position planning curve.
FIG. 10 illustrates an internal block diagram of a computer device in one embodiment. The computer device includes a processor, a memory, a network interface, an input device, and a display screen connected by a system bus. The memory includes a nonvolatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system, and may also store a computer program which, when executed by the processor, may cause the processor to implement a hydraulic robot control method. The internal memory may also have stored therein a computer program which, when executed by the processor, causes the processor to execute the hydraulic robot control method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, the input device of the computer equipment can be a touch layer covered on the display screen, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the structure shown in fig. 10 is merely a block diagram of some of the structures associated with the present application and is not limiting of the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, the hydraulic robot control system provided herein may be implemented in the form of a computer program that is executable on a computer device as shown in fig. 10. The memory of the computer device may store various program modules constituting the hydraulic robot control system, such as the movement instruction parsing module 100, the interpolation instruction generating module 200, the joint angle queue generating module 300, and the instruction executing module 400 shown in fig. 7. The computer program constituted by the respective program modules causes the processor to execute the steps in the hydraulic robot control method of the respective embodiments of the present application described in the present specification.
For example, the computer apparatus shown in fig. 10 may perform step S100 through the movement instruction parsing module 100 in the hydraulic robot control system as shown in fig. 7. The computer device may perform step S200 through the interpolation instruction generation module 200. The computer device may perform step S300 through the joint angle queue generating module 300.
In one embodiment, a computer device is presented, the computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
step S100, a motion instruction is acquired, and the motion instruction is analyzed to extract motion information containing the target position and the speed.
And step 200, generating a linear interpolation instruction and a joint interpolation instruction according to the motion information and the current gesture of the robot.
Step S300, the joint angle control instruction obtained by the joint interpolation instruction and the inverse-solved straight line interpolation instruction is stored in a joint angle queue.
Step S400, the joint angle control instructions in the joint angle queue are sequentially executed until the joint angle queue is empty.
In one embodiment, a computer readable storage medium is provided, having a computer program stored thereon, which when executed by a processor causes the processor to perform the steps of:
step S100, a motion instruction is acquired, and the motion instruction is analyzed to extract motion information containing the target position and the speed.
And step 200, generating a linear interpolation instruction and a joint interpolation instruction according to the motion information and the current gesture of the robot.
Step S300, the joint angle control instruction obtained by the joint interpolation instruction and the inverse-solved straight line interpolation instruction is stored in a joint angle queue.
Step S400, the joint angle control instructions in the joint angle queue are sequentially executed until the joint angle queue is empty.
It should be understood that, although the steps in the flowcharts of the embodiments of the present invention are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in various embodiments may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of the sub-steps or stages of other steps or other steps.
Those skilled in the art will appreciate that all or part of the processes in the methods of the above embodiments may be implemented by a computer program for instructing relevant hardware, where the program may be stored in a non-volatile computer readable storage medium, and where the program, when executed, may include processes in the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the various embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (9)
1. A hydraulic robot control method, the method comprising:
acquiring a motion instruction, and analyzing the motion instruction to extract motion information containing the target position and the speed;
generating a linear interpolation instruction and a joint interpolation instruction according to the motion information and the current gesture of the robot;
the joint angle control instruction obtained by the joint interpolation instruction and the straight line interpolation instruction after inverse calculation is stored in a joint angle queue;
and sequentially executing the joint angle control instructions in the joint angle queue until the joint angle queue is empty.
2. The method according to claim 1, wherein the step of sequentially executing the joint angle control instructions in the joint angle queue until the joint angle queue is empty specifically includes:
acquiring a joint angle control instruction;
acquiring an articulation target value from the articulation angle control command;
according to the joint movement target value and the joint current position, controlling the opening degree of the proportional valve through a PID controller so as to control the joint angle;
and judging whether the joint angle queue is empty or not, and continuously executing the joint angle control instruction until the joint angle queue is empty when the joint angle queue is not empty.
3. The method of claim 2, wherein the proportional valve dead zone is compensated by a PID control algorithm with feed forward when the opening degree of the proportional valve is controlled by the PID controller.
4. The method according to claim 1, wherein the step of generating a straight line interpolation instruction and a joint interpolation instruction according to the motion information and the current pose of the robot specifically comprises:
acquiring the current gesture of the robot and motion information at least comprising the target position, the speed and the acceleration;
according to the current gesture and the motion information of the robot, calculating the motion time of each axis of the robot respectively;
the longest movement time is taken as the time of synchronous movement, and the position planning curve of each shaft is recalculated;
and generating a linear interpolation instruction and a joint interpolation instruction according to the position planning curve.
5. A method according to claim 3, characterized in that said step of compensating for the dead zone of the proportional valve by means of a PID control algorithm with feedforward, in particular comprises:
obtaining the minimum opening degree of the proportional valve, wherein the minimum opening degree is used as a feedforward value and used for representing the minimum opening angle capable of driving the hydraulic cylinder to move;
and accumulating the feedforward value and the opening degree of the proportional valve output by the PID controller, and outputting the accumulated feedforward value and the opening degree of the proportional valve as a final result of the PID controller.
6. A hydraulic robotic control system, the system comprising:
the motion instruction analysis module is used for acquiring a motion instruction and analyzing the motion instruction to extract motion information containing the target position and the speed;
the interpolation instruction generation module is used for generating a linear interpolation instruction and a joint interpolation instruction according to the motion information and the current gesture of the robot;
the joint angle queue generating module is used for storing joint angle control instructions obtained by joint interpolation instructions and the straight line interpolation instructions after inverse calculation into the joint angle queue;
the instruction execution module is used for sequentially executing the joint angle control instructions in the joint angle queue until the joint angle queue is empty.
7. The system of claim 6, wherein the instruction execution module comprises:
the instruction acquisition unit is used for acquiring a joint angle control instruction;
an articulation target value acquisition unit configured to acquire an articulation target value from the joint angle control instruction;
the joint angle control unit is used for controlling the opening degree of the proportional valve through the PID controller according to the joint motion target value and the joint current position so as to control the joint angle;
and the queue judging unit is used for judging whether the joint angle queue is empty or not, and continuously executing the joint angle control instruction until the joint angle queue is empty when the joint angle queue is not empty.
8. The system of claim 7, wherein the proportional valve opening level is controlled by a PID controller to compensate for the proportional valve dead band by a PID control algorithm with feed forward.
9. The system of claim 6, wherein the interpolation instruction generation module comprises:
the information acquisition unit is used for acquiring the current gesture of the robot and motion information at least comprising target position, speed and acceleration;
the motion time calculation unit is used for calculating the motion time of each axis of the robot according to the current gesture and the motion information of the robot;
the re-planning unit is used for recalculating the position planning curve of each shaft by taking the longest movement time as the synchronous movement time;
and the instruction generation unit is used for generating a linear interpolation instruction and a joint interpolation instruction according to the position planning curve.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117079371A (en) * | 2023-10-13 | 2023-11-17 | 成都越凡创新科技有限公司 | Scheduling method and system for access control rights |
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| CN117079371A (en) * | 2023-10-13 | 2023-11-17 | 成都越凡创新科技有限公司 | Scheduling method and system for access control rights |
| CN117079371B (en) * | 2023-10-13 | 2024-04-05 | 成都越凡创新科技有限公司 | Scheduling method and system for access control rights |
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