CN116175548B - Self-adaptive variable-impedance electric driving system for robot and control method and device - Google Patents
Self-adaptive variable-impedance electric driving system for robot and control method and device Download PDFInfo
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- CN116175548B CN116175548B CN202211559370.XA CN202211559370A CN116175548B CN 116175548 B CN116175548 B CN 116175548B CN 202211559370 A CN202211559370 A CN 202211559370A CN 116175548 B CN116175548 B CN 116175548B
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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
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention discloses a self-adaptive variable-impedance electric driving system of a robot, a control method and a control device, wherein the self-adaptive variable-impedance electric driving system comprises the following components: acquiring sensor signals of an electric drive system, including motor current or drive joint moment, rotating speed and position signals; according to the robot motion operation scene, self-adaptively setting rigidity parameters; and calculating joint damping parameters of the electric drive system according to the rotation speed and the moment of the drive joint, and determining joint demand moment of the electric drive system according to the rigidity parameters and the joint damping parameters, so that the closed-loop self-adaptive control is carried out on the robot drive joint based on the impedance control mode of the force inner ring. The robot driving system does not need to add additional mechanical elements such as elasticity and damping, and the rigidity and the damping of the robot driving system are directly changed on line in real time by an active control method, so that the robot achieves the purpose of more intelligent and flexible, and the interaction capability of the robot and the environment, particularly the motion buffering and damping capability of the foot-type robot, is improved.
Description
Technical Field
The invention belongs to the technical field of robot electric drive control, and particularly relates to a self-adaptive variable-impedance electric drive system of a robot, a control method and a control device.
Background
Robots are widely used in industrial, service and other application fields. For the cooperative and foot-type robots, the cooperative robot needs to interact with a large amount of people and the environment during a task, and the foot-type robot needs to have higher environmental adaptability during the movement process. The traditional position control mode can not meet the interaction capability of the robot with a person or an environment, and the robot needs to have certain flexibility. The electric drive system based on impedance control enables the robot to have certain flexibility, but the rigidity and damping control parameters of the drive system are always constant. In order to make the robot have more intelligent flexibility in a changing environment, the robot needs to be subjected to self-adaptive variable impedance control.
Robot compliance can typically be achieved through passive compliance and active compliance control. The passive compliance mode enables the robot to have certain compliance performance by designing an additional mechanical structure, but the volume of a driving system of the robot is increased and the large-range rigidity damping adjustment cannot be realized. The active compliance control can realize the compliance performance of the robot by controlling the motion relation of the position, the speed and the force of the robot, and is realized by setting the equivalent stiffness and damping control parameters of the robot. But the single rigidity and damping control parameters cannot meet the intelligent and flexible interaction performance of the robot with different changed environments. The robot can achieve better flexibility by performing self-adaptive variable impedance control according to the interaction environment.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a self-adaptive variable-impedance electric driving system of a robot, a control method and a control device.
In order to achieve the above purpose, the technical scheme of the invention is as follows: a first aspect of an embodiment of the present invention provides a method for controlling a self-adaptive variable impedance electric driving system of a robot, where the method specifically includes:
acquiring sensor signals of an electric drive system, including motor current or drive joint moment, rotating speed and position signals;
according to the robot motion operation scene, self-adaptively setting rigidity parameters;
and calculating joint damping parameters of the electric drive system according to the rotation speed and the moment of the drive joint, and determining joint demand moment of the electric drive system according to the rigidity parameters and the joint damping parameters, so that the closed-loop self-adaptive control is carried out on the robot drive joint based on the impedance control mode of the force inner ring.
Further, adaptively setting the stiffness parameter includes:
the stiffness parameter comprises three parameter intervals, and the formula is as follows:
wherein K is a set rigidity parameter, K c Is a constant setting value of the rigidity parameter, alpha is a first rigidity parameter adjusting coefficient, beta is a second rigidity parameter adjusting coefficient, h 1 A lower limit value of the first rigidity parameter adjusting coefficient, h 2 And adjusting the upper limit value of the coefficient for the second rigidity parameter.
Further, calculating joint damping parameters of the electric drive system according to the rotational speed and the moment of the drive joint includes: and (3) initially setting a damping constant, calculating an adaptive damping increment, and superposing the initially set damping constant and the adaptive damping increment to obtain the real-time calculated joint damping parameter of the electric drive system.
Further, the adaptive damping increment is the product of the differential amount of the driving joint moment and the weight coefficient.
Further, the equation for determining the joint demand torque of the electric drive system according to the calculated stiffness parameter and joint damping parameter is as follows:
wherein τ is the control moment of the driving joint, K is the rigidity parameter, q d For the expected position of the driving joint, q is the actual position of the driving joint, D is a joint damping parameter, C is a coriolis force and centrifugal force term, and G is a gravity term.
A second aspect of the embodiment of the present invention provides a robot adaptive variable impedance electric driving system, which is configured to implement the control method of the robot adaptive variable impedance electric driving system, including:
the permanent magnet synchronous motor outputs rotating speed and torque after decelerating and amplifying the torque through the planetary reducer;
the encoder is arranged on the side of the permanent magnet synchronous motor and is used for collecting the rotating speed and position signals of the permanent magnet synchronous motor;
the self-adaptive variable impedance controller receives current, moment, rotating speed and position signals corresponding to the permanent magnet synchronous motor; according to the robot motion operation scene, self-adaptively setting rigidity parameters; and calculating joint damping parameters of the electric drive system according to the rotation speed and the moment of the drive joint, and determining joint demand moment of the electric drive system according to the rigidity parameters and the joint damping parameters, so that the closed-loop self-adaptive control is carried out on the robot drive joint based on the impedance control mode of the force inner ring.
Further, the system also comprises a torque sensor which is arranged at the output end of the planetary reducer and is used for measuring the output torque of the driving system.
A third aspect of the embodiments of the present invention provides a control device for a robot adaptive variable impedance electric driving system, including one or more processors, configured to perform the control method for a robot adaptive variable impedance electric driving system described above.
A fourth aspect of the embodiments of the present invention provides a computer-readable storage medium having stored thereon a program for implementing the control method of the adaptive variable impedance electric drive system for a robot described above when executed by a processor.
Compared with the traditional robot electric drive system, the invention has the following beneficial effects: the driving system of the robot adopts a motor and a low-speed ratio reducer to have better force control performance, and the robot can adjust the rigidity and damping of the electric driving joint system of the robot in real time on line according to the current of the motor or the moment and the rotating speed of the driving joint of the robot and the movement operation requirement of the robot directly through an active control method, so that an additional flexible mechanical element is not required to be added, the aim of enabling the robot to be more intelligent and flexible is achieved, and the interaction capability and the movement walking capability of the foot-type robot of the cooperative robot are improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort to a person skilled in the art.
FIG. 1 is a flow chart of a control method of a robot adaptive variable impedance electric drive system;
FIG. 2 is a diagram of the composition of a robot adaptive variable impedance electric drive system;
FIG. 3 is a schematic diagram of a robot jump drop ground jerk using a position controlled (unbuffered) electric drive system;
FIG. 4 is a graph of robot jump drop ground jerk using an adaptive variable impedance electric drive system;
fig. 5 is a schematic diagram of a control device of a self-adaptive variable-impedance electric driving system of a robot according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the invention. Rather, they are merely examples of apparatus and methods consistent with aspects of the invention as detailed in the accompanying claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the invention. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "responsive to a determination", depending on the context.
The present invention will be described in detail with reference to the accompanying drawings. The features of the examples and embodiments described below may be combined with each other without conflict.
As shown in fig. 1, the present invention proposes a control method of a robot adaptive variable impedance electric drive system, the method comprising:
acquiring sensor signals of an electric drive system, including motor current or drive joint moment, rotating speed and position signals; wherein the driving joint moment can be measured by a moment sensor or estimated by joint current.
And according to the robot motion operation scene, the rigidity parameter is adaptively set.
And calculating joint damping parameters of the electric drive system according to the rotation speed and the moment of the drive joint, and determining joint demand moment of the electric drive system according to preset rigidity parameters and joint damping parameters, so as to carry out closed-loop self-adaptive control on the drive joint of the robot based on the impedance control mode of the force inner ring.
The present invention provides an electric drive system including:
the permanent magnet synchronous motor outputs rotating speed and torque after being decelerated by the planetary speed reducer.
The encoder is arranged on the side of the permanent magnet synchronous motor and is used for collecting the rotating speed and position signals of the permanent magnet synchronous motor.
The self-adaptive variable impedance controller receives current, moment, rotating speed and position signals corresponding to the permanent magnet synchronous motor; according to the robot motion operation scene, self-adaptively setting rigidity parameters; and calculating joint damping parameters of the electric drive system according to the rotation speed and the moment of the drive joint, and determining joint demand moment of the electric drive system according to the rigidity parameters and the joint damping parameters, so that the closed-loop self-adaptive control is carried out on the robot drive joint based on the impedance control mode of the force inner ring.
Further, the electric drive system provided by the present invention may further include: and the torque sensor is used for measuring the output torque of the speed reducer end.
Wherein, the adaptive setting stiffness parameter can be expressed as:
wherein K is a set rigidity parameter, K c Is a constant setting value of the rigidity parameter, alpha is a first rigidity parameter adjusting coefficient, beta is a second rigidity parameter adjusting coefficient, h 1 A lower limit value of the first rigidity parameter adjusting coefficient, h 2 And adjusting the upper limit value of the coefficient for the second rigidity parameter. In this example, stiffness control parameters of different levels need to be set in a self-defined manner according to the robot motion operation scene information, for example, when the foot robot lands on the ground, the stiffness is adjusted to be small in a self-adaptive manner so as to achieve buffering, and when the foot robot steps on the ground, the stiffness is adjusted to be large in a self-adaptive manner so as to obtain a large motion speed. And the rigidity parameter value needs to be comprehensively and adaptively adjusted based on the weight of the robot, the actual road conditions and other factors.
According to the acquired rotation speed and torque of the driving joint, the joint damping parameters of the electric driving system are calculated, and specifically: and (3) initially setting a damping constant, calculating an adaptive damping increment, and superposing the initially set damping constant and the adaptive damping increment to obtain the real-time calculated joint damping parameter of the electric drive system. The self-adaptive damping increment is the product of the differential quantity of the moment of the driving joint and the weight coefficient.
The electric drive system joint damping parameters may be expressed as:
D＝D c +Q
wherein D is a damping parameter calculated in real time, D c For the initial setting of the damping constant, Q is the adaptive damping increment, eta is the weight coefficient,to drive the moment differential of the joint. In this example, the damping control parameters of the adaptive variable impedance controller may be adapted in real time to adjust the appropriate damping parameters based on the rate of change of the moment applied.
And determining joint demand moment of the electric drive system according to the rigidity parameter and the joint damping parameter, so that the closed-loop self-adaptive control is carried out on the robot drive joint based on the impedance control mode of the force inner ring.
The driving joint control moment can be obtained by acquiring a moment sensor signal or calculating motor current.
The electric drive system joint demand torque can be expressed as:
wherein τ is the driving joint control moment, q d And q is the actual position of the joint, C is the coriolis force and centrifugal force term, and G is the gravity term.
FIG. 3 is a schematic diagram of a robot jump drop ground jerk using a position controlled (unbuffered) electric drive system; fig. 4 is a graph of robot jump drop ground jerk using an adaptive variable impedance electric drive system. As can be seen from the comparison of fig. 3 and fig. 4, the motion buffering and damping capacity of the robot jumping and falling ground can be obviously enhanced by the processing of the method, and the robot system can adaptively adjust the self-control rigidity and damping characteristic in a large range according to application requirements.
In summary, the robot driving system does not need additional mechanical elements such as elasticity and damping, and the rigidity and damping of the robot driving system are directly changed on line and in real time according to different operation scenes and operation tasks by an active control method, so that the robot achieves the purpose of being more intelligent and flexible, and the interaction capability of the robot and the environment, particularly the motion buffering and damping capability of the foot-type robot, is improved.
The invention also provides an embodiment of a control device of the self-adaptive variable-impedance electric drive system of the robot, corresponding to the embodiment of the control method of the self-adaptive variable-impedance electric drive system of the robot.
Referring to fig. 5, a control device of a self-adaptive variable-impedance electric driving system of a robot according to an embodiment of the present invention includes one or more processors configured to implement the control method of the self-adaptive variable-impedance electric driving system of the robot according to the above embodiment.
The embodiment of the control device of the self-adaptive variable-impedance electric driving system of the robot can be applied to any device with data processing capability, such as a computer or the like. The apparatus embodiments may be implemented by software, or may be implemented by hardware or a combination of hardware and software. Taking software implementation as an example, the device in a logic sense is formed by reading corresponding computer program instructions in a nonvolatile memory into a memory by a processor of any device with data processing capability. In terms of hardware, as shown in fig. 5, a hardware structure diagram of an apparatus with any data processing capability where the control device of the adaptive variable impedance electric driving system for a robot of the present invention is located is shown in fig. 5, and in addition to the processor, the memory, the network interface, and the nonvolatile memory shown in fig. 5, any apparatus with data processing capability in the embodiment generally includes other hardware according to the actual function of the apparatus with any data processing capability, which will not be described herein.
The implementation process of the functions and roles of each unit in the above device is specifically shown in the implementation process of the corresponding steps in the above method, and will not be described herein again.
For the device embodiments, reference is made to the description of the method embodiments for the relevant points, since they essentially correspond to the method embodiments. The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purposes of the present invention. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
The embodiment of the invention also provides a computer readable storage medium, on which a program is stored, which when executed by a processor, implements the control method of the adaptive variable impedance electric drive system of the robot in the above embodiment.
The computer readable storage medium may be an internal storage unit, such as a hard disk or a memory, of any of the data processing enabled devices described in any of the previous embodiments. The computer readable storage medium may be any device having data processing capability, for example, a plug-in hard disk, a Smart Media Card (SMC), an SD Card, a Flash memory Card (Flash Card), or the like, which are provided on the device. Further, the computer readable storage medium may include both internal storage units and external storage devices of any data processing device. The computer readable storage medium is used for storing the computer program and other programs and data required by the arbitrary data processing apparatus, and may also be used for temporarily storing data that has been output or is to be output.
The foregoing has outlined rather broadly the principles and embodiments of the present invention in order that the detailed description thereof herein may be better understood, and in order that the present invention may be better understood; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.
Claims (8)
1. A method for controlling an adaptive variable impedance electric drive system of a robot, the method comprising:
acquiring sensor signals of an electric drive system, including motor current or drive joint moment, rotating speed and position signals;
according to the robot motion operation scene, self-adaptively setting rigidity parameters;
calculating joint damping parameters of the electric drive system according to the rotation speed and the moment of the drive joint, and determining joint demand moment of the electric drive system according to the rigidity parameters and the joint damping parameters, so as to carry out closed-loop self-adaptive control on the drive joint of the robot based on the impedance control mode of the force inner ring;
the method comprises the steps of determining joint demand moment of an electric drive system according to a rigidity parameter and a joint damping parameter, wherein the expression is as follows:
wherein τ is the control moment of the driving joint, K is the rigidity parameter, q d For the expected position of the driving joint, q is the actual position of the driving joint, D is a joint damping parameter, C is a coriolis force and centrifugal force term, and G is a gravity term.
2. The method of controlling a robot-adaptive variable-impedance electric drive system according to claim 1, wherein adaptively setting the stiffness parameter comprises:
the stiffness parameter comprises three parameter intervals, and the formula is as follows:
wherein K is a set rigidity parameter, K c Is a constant setting value of the rigidity parameter, alpha is a first rigidity parameter adjusting coefficient, beta is a second rigidity parameter adjusting coefficient, h 1 A lower limit value of the first rigidity parameter adjusting coefficient, h 2 And adjusting the upper limit value of the coefficient for the second rigidity parameter.
3. The method of claim 1, wherein calculating joint damping parameters of the electric drive system based on the drive joint rotational speed and torque comprises: and (3) initially setting a damping constant, calculating an adaptive damping increment, and superposing the initially set damping constant and the adaptive damping increment to obtain the real-time calculated joint damping parameter of the electric drive system.
4. A method of controlling a robotic adaptive variable impedance electric drive system as set forth in claim 3 wherein the adaptive damping delta is a product of a differential amount of the drive joint moment and a weight coefficient.
5. A robot-adaptive variable-impedance electric drive system for realizing the control method of the robot-adaptive variable-impedance electric drive system according to any one of claims 1 to 4, characterized by comprising:
the permanent magnet synchronous motor outputs rotating speed and torque after decelerating and amplifying the torque through the planetary reducer;
the encoder is arranged on the side of the permanent magnet synchronous motor and is used for collecting the rotating speed and position signals of the permanent magnet synchronous motor;
the self-adaptive variable impedance controller receives current, moment, rotating speed and position signals corresponding to the permanent magnet synchronous motor; according to the robot motion operation scene, self-adaptively setting rigidity parameters; and calculating joint damping parameters of the electric drive system according to the rotation speed and the moment of the drive joint, and determining joint demand moment of the electric drive system according to the rigidity parameters and the joint damping parameters, so that the closed-loop self-adaptive control is carried out on the robot drive joint based on the impedance control mode of the force inner ring.
6. The adaptive variable impedance electric drive system of claim 5 further comprising a torque sensor disposed at an output of the planetary reducer for measuring an output torque of the drive system.
7. A control device of a robot adaptive variable impedance electric drive system, characterized by comprising one or more processors for implementing a control method of a robot adaptive variable impedance electric drive system according to any of claims 1-4.
8. A computer-readable storage medium, on which a program is stored, characterized in that the program, when being executed by a processor, is adapted to carry out a control method of the robot adaptive variable impedance electric drive system according to any one of claims 1-4.
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| CN202211559370.XA CN116175548B (en) | 2022-12-06 | 2022-12-06 | Self-adaptive variable-impedance electric driving system for robot and control method and device |
| PCT/CN2023/091649 WO2023213243A1 (en) | 2022-12-06 | 2023-04-28 | Adaptive variable impedance electric driving system for robot, control method, and apparatus |
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| CN202211559370.XA CN116175548B (en) | 2022-12-06 | 2022-12-06 | Self-adaptive variable-impedance electric driving system for robot and control method and device |
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| CN116175548A (en) | 2023-05-30 |
| WO2023213243A1 (en) | 2023-11-09 |
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