CN116512278A - Mechanical arm tail end linear motion control method and system based on virtual target point - Google Patents
Mechanical arm tail end linear motion control method and system based on virtual target point Download PDFInfo
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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
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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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
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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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
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Abstract
The invention belongs to the technical field of mechanical arm control, and provides a mechanical arm tail end linear motion control method and system based on a virtual target point, which are used for solving the problems that accumulated errors of the tail end motion position precision of a robot cannot be eliminated and additional sensor equipment is required to be added. The control method for the linear motion of the tail end of the mechanical arm based on the virtual target point comprises the steps of calculating a jacobian matrix of the mechanical arm based on a Cartesian space pose of the tail end of the mechanical arm in the current period and the differential kinematics of the mechanical arm, and further calculating a virtual target point pose in the linear direction of the tail end of the mechanical arm in the next period; based on the virtual target point pose and the current tail end pose, correcting the command speed of the tail end of the mechanical arm of the next period, and calculating the speed setting of each joint of the mechanical arm by combining with the jacobian matrix of the mechanical arm so as to control the motion of each joint of the mechanical arm in the next period. The mechanical arm end accurately moves linearly along a given direction.
Description
Technical Field
The invention belongs to the technical field of mechanical arm control, and particularly relates to a mechanical arm tail end linear motion control method and system based on a virtual target point.
Background
In order to make the end of the mechanical arm strictly go straight in a given direction, two general approaches are adopted:
mode one: the rotating speed of the joint is given in real time, but the method for controlling the speed of the mechanical arm in the Cartesian space generally uses a time-varying Jacobian matrix to map the Cartesian space speed to the joint space speed, so that the greater the accumulated error of the precision of the movement position of the tail end of the robot is caused along with the discreteness of the calculation process.
Mode two: the addition of a closed loop feedback of position requires the addition of additional sensor devices such as a visual positioning system or a laser positioning system, which is expensive and increases the complexity of the system.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention provides a method and a system for controlling the linear motion of the tail end of a mechanical arm based on a virtual target point, which are used for realizing the accurate linear motion of the tail end of the mechanical arm along a given direction by calculating the position of the virtual target point in real time and continuously adjusting the size and the direction of the given speed.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the first aspect of the invention provides a mechanical arm tail end linear motion control method based on a virtual target point.
In one or more embodiments, a method for controlling linear motion of a robot arm end based on a virtual target point includes:
acquiring the current position of each joint of the mechanical arm, and calculating the Cartesian space pose of the tail end of the mechanical arm in the current period;
based on the Cartesian space pose of the tail end of the mechanical arm in the current period and the differential kinematics of the mechanical arm, calculating a jacobian matrix of the mechanical arm;
calculating a virtual target point position in the linear direction of the tail end of the mechanical arm in the next period based on the instruction speed and the starting position of the tail end of the given mechanical arm;
based on the virtual target point pose and the current tail end pose, correcting the command speed of the tail end of the mechanical arm of the next period, and calculating the speed setting of each joint of the mechanical arm by combining with the jacobian matrix of the mechanical arm so as to control the motion of each joint of the mechanical arm in the next period.
As one embodiment of the first aspect of the present invention, the method for controlling linear motion of a distal end of a manipulator based on a virtual target point further includes:
judging whether the speed setting of each joint of the mechanical arm is zero, if so, ending the motion; otherwise, continuously calculating the virtual target point pose in the linear direction of the tail end of the mechanical arm in the next period, and recalculating the given speed of each joint of the mechanical arm.
As an embodiment of the first aspect of the present invention, in correcting the commanded speed of the arm end, the correction coefficient is used to correct the commanded speed.
As a further embodiment of the first aspect of the present invention, the correction coefficient is: the ratio of the difference value between the virtual target point pose and the current end pose to the absolute value of the difference value.
As an embodiment of the first aspect of the present invention, in the process of calculating the cartesian space pose of the end of the mechanical arm in the current cycle, the cartesian space pose of the end of the mechanical arm in the current cycle is obtained based on the current position of each joint of the mechanical arm and the homogeneous matrix; the homogeneous matrix characterizes the corresponding relation between each joint of the mechanical arm and the tail end of the mechanical arm.
The second aspect of the invention provides a mechanical arm tail end linear motion control system based on a virtual target point.
In one or more embodiments, a virtual target point-based robot arm tip rectilinear motion control system includes:
the mechanical arm tail end pose calculating module is used for obtaining the current positions of all joints of the mechanical arm and calculating the Cartesian space pose of the mechanical arm tail end in the current period;
the jacobian matrix calculation module is used for calculating the jacobian matrix of the mechanical arm based on the Cartesian space pose of the tail end of the mechanical arm in the current period and the differential kinematics of the mechanical arm;
the virtual target point position and pose calculating module is used for calculating the virtual target point position and pose of the tail end of the mechanical arm in the linear direction of the tail end of the mechanical arm in the next period based on the instruction speed and the starting point position and pose of the tail end of the given mechanical arm;
the joint given speed calculation module is used for correcting the command speed of the tail end of the mechanical arm in the next period based on the virtual target point pose and the current tail end pose, and calculating the speed given of each joint of the mechanical arm by combining with the jacobian matrix of the mechanical arm so as to control the motion of each joint of the mechanical arm in the next period.
As an embodiment of the second aspect of the present invention, the arm end rectilinear motion control system based on the virtual target point further includes:
the movement ending judging module is used for judging whether the speed setting of each joint of the mechanical arm is zero or not, and if yes, ending the movement; otherwise, continuously calculating the virtual target point pose in the linear direction of the tail end of the mechanical arm in the next period, and recalculating the given speed of each joint of the mechanical arm.
As an embodiment of the second aspect of the present invention, in the joint given speed calculation module, the correction coefficient is used to correct the original command speed in the process of correcting the command speed of the end of the mechanical arm.
As a further embodiment of the second aspect of the present invention, the correction coefficient is: the ratio of the difference value between the virtual target point pose and the current end pose to the absolute value of the difference value.
A third aspect of the invention provides a robotic system.
In one or more embodiments, a robotic system includes: the robot comprises a robot body, a position sensing element and a controller, wherein the position sensing element is arranged at each joint of the mechanical arm and used for detecting the current position of each joint of the mechanical arm and transmitting the current position to the controller;
the controller is configured to:
based on the current positions of all joints of the mechanical arm, calculating the Cartesian space pose of the tail end of the mechanical arm in the current period;
based on the Cartesian space pose of the tail end of the mechanical arm in the current period and the differential kinematics of the mechanical arm, calculating a jacobian matrix of the mechanical arm;
calculating a virtual target point position in the linear direction of the tail end of the mechanical arm in the next period based on the instruction speed and the starting position of the tail end of the given mechanical arm;
based on the virtual target point pose and the current tail end pose, correcting the command speed of the tail end of the mechanical arm of the next period, and calculating the speed setting of each joint of the mechanical arm by combining with the jacobian matrix of the mechanical arm so as to control the motion of each joint of the mechanical arm in the next period.
As an embodiment of the third aspect of the present invention, in the controller, the original command speed is corrected by using a correction coefficient in correcting the command speed of the arm end.
As a further embodiment of the third aspect of the present invention, the correction coefficient is: the ratio of the difference value between the virtual target point pose and the current end pose to the absolute value of the difference value.
Compared with the prior art, the invention has the beneficial effects that:
(1) According to the method, the command speed and the starting point pose of the tail end of the mechanical arm are given, the virtual target point pose in the linear direction of the tail end of the mechanical arm in the next period is calculated, and the speed given in the next control period is continuously corrected by calculating the virtual target point pose in real time, so that the speed control of the tail end of the mechanical arm is performed, and meanwhile, the precision of the pose is ensured.
(2) The robot system can be realized through the information of the mechanical arm, hardware is not required to be updated or additional sensing equipment is not required to be added, the control process is simple, and the development cost is greatly saved.
Additional aspects of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
FIG. 1 is a schematic diagram of a method for controlling linear motion of a manipulator end based on a virtual target point according to an embodiment of the present invention;
fig. 2 is a schematic diagram of calculating a virtual target point pose in a straight line direction at the end of a mechanical arm according to an embodiment of the present invention.
Detailed Description
The invention will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
Example 1
The following describes the specific procedure of the arm end linear motion control method based on the virtual target point in detail with reference to fig. 1 and a six-axis arm as an example:
step 1: and acquiring the current position of each joint of the mechanical arm, and calculating the Cartesian space pose of the tail end of the mechanical arm in the current period.
For example: the encoder of 6 joints of the mechanical arm is used for obtaining the first jointCurrent position data of individual joints->Wherein；
Specifically, in the process of calculating the Cartesian space position of the tail end of the mechanical arm in the current period, the Cartesian space position of the tail end of the mechanical arm in the current period is obtained based on the current position of each joint of the mechanical arm and the homogeneous matrix; the homogeneous matrix characterizes the corresponding relation between each joint of the mechanical arm and the tail end of the mechanical arm.
By joint positionSubstituted homogeneous matrix->Calculating Cartesian space pose of the end of the current mechanical arm +.>The movement starts with the current point at this time, thus +.> = />。
Step 2: based on the Cartesian space pose of the tail end of the mechanical arm in the current period and the differential kinematics of the mechanical arm, the jacobian matrix of the mechanical arm is calculated.
Alignment matrixIs respectively corresponding to->Obtaining a jacobian matrix by solving partial derivative>I.e. the Cartesian space velocity +.>And joint speed->Instantaneous relationship between:
。
step 3: based on the command speed and the starting position and pose of the tail end of the given mechanical arm, calculating the virtual target point position and pose of the tail end of the mechanical arm in the linear direction of the tail end of the mechanical arm in the next period.
Using starting points of movementAnd an initial given speed (i.e., a Cartesian space commanded speed at the end of the robotic arm)Calculating virtual target point +.>：
Wherein, the liquid crystal display device comprises a liquid crystal display device,is a dynamically changing point, leading the current time +.>Is->Calculation cycle->。/>Is a positive integer greater than or equal to 1.
Step 4: based on the virtual target point pose and the current tail end pose, correcting the command speed of the tail end of the mechanical arm of the next period, and calculating the speed setting of each joint of the mechanical arm by combining with the jacobian matrix of the mechanical arm so as to control the motion of each joint of the mechanical arm in the next period.
In the specific implementation process, in the process of correcting the end command speed of the mechanical arm, the original command speed is corrected by using the correction coefficient.
Wherein, the correction coefficient is: the ratio of the difference value between the virtual target point pose and the current end pose to the absolute value of the difference value.
Calculating corrected commanded speeds for Cartesian space：
UsingAnd->Calculating the joint speeds of the current step:
wherein:
-joint->Is a function of the angle of (2);
-a homogeneous matrix of the manipulator base coordinate system to the end coordinate system;
—the current pose of the tail end of the mechanical arm;
-jacobian matrix;
-a cartesian space command velocity at the end of the robotic arm;
-a command speed corrected in cartesian space at the end of the arm;
—the movement starting position and the gesture of the tail end of the mechanical arm;
-virtual target point pose;
-cartesian space velocity of the robot arm tip;
-arm joint->Is a speed of (2);
-calculating the period.
According to fig. 2, in one or more embodiments, the method for controlling linear motion of a robot arm end based on a virtual target point further includes:
step 5: judging whether the speed setting of each joint of the mechanical arm is zero, if so, ending the motion; otherwise, continuously calculating the virtual target point pose in the linear direction of the tail end of the mechanical arm in the next period, and recalculating the given speed of each joint of the mechanical arm.
According to the method, the virtual target point pose is calculated in real time, and the speed setting of the next control period is continuously corrected, so that the speed control on the tail end of the mechanical arm is performed, and meanwhile, the precision of the pose is ensured.
Example two
The embodiment provides a mechanical arm tail end linear motion control system based on a virtual target point, which comprises the following components:
(1) The mechanical arm tail end pose calculating module is used for obtaining the current positions of all joints of the mechanical arm and calculating the Cartesian space pose of the mechanical arm tail end in the current period.
(2) And the jacobian matrix calculation module is used for calculating the jacobian matrix of the mechanical arm based on the Cartesian space pose of the tail end of the mechanical arm in the current period and the differential kinematics of the mechanical arm.
(3) And the virtual target point pose calculation module is used for calculating the virtual target point pose in the linear direction of the tail end of the mechanical arm in the next period based on the command speed and the starting point pose of the tail end of the given mechanical arm.
(4) The joint given speed calculation module is used for correcting the command speed of the tail end of the mechanical arm in the next period based on the virtual target point pose and the current tail end pose, and calculating the speed given of each joint of the mechanical arm by combining with the jacobian matrix of the mechanical arm so as to control the motion of each joint of the mechanical arm in the next period.
In the specific implementation process, in the joint given speed calculation module, in the process of correcting the end command speed of the mechanical arm, the original command speed is corrected by using a correction coefficient.
Wherein, the correction coefficient is: the ratio of the difference value between the virtual target point pose and the current end pose to the absolute value of the difference value.
In other embodiments, the virtual target point-based mechanical arm end rectilinear motion control system further includes:
(5) The movement ending judging module is used for judging whether the speed setting of each joint of the mechanical arm is zero or not, and if yes, ending the movement; otherwise, continuously calculating the virtual target point pose in the linear direction of the tail end of the mechanical arm in the next period, and recalculating the given speed of each joint of the mechanical arm.
It should be noted that, each module in the embodiment corresponds to each step in the first embodiment one to one, and the implementation process is the same, which is not described here.
Example III
The present embodiment provides a robot system including: the robot comprises a robot body, position sensing elements (such as an encoder and the like) and a controller, wherein the position sensing elements are arranged at all joints of the mechanical arm and are used for detecting the current positions of all joints of the mechanical arm and transmitting the current positions to the controller;
the controller is configured to:
based on the current positions of all joints of the mechanical arm, calculating the Cartesian space pose of the tail end of the mechanical arm in the current period;
based on the Cartesian space pose of the tail end of the mechanical arm in the current period and the differential kinematics of the mechanical arm, calculating a jacobian matrix of the mechanical arm;
calculating a virtual target point position in the linear direction of the tail end of the mechanical arm in the next period based on the instruction speed and the starting position of the tail end of the given mechanical arm;
based on the virtual target point pose and the current tail end pose, correcting the command speed of the tail end of the mechanical arm of the next period, and calculating the speed setting of each joint of the mechanical arm by combining with the jacobian matrix of the mechanical arm so as to control the motion of each joint of the mechanical arm in the next period.
In the controller, the original command speed is corrected by using a correction coefficient in the process of correcting the command speed at the tail end of the mechanical arm.
Specifically, the correction coefficient is: the ratio of the difference value between the virtual target point pose and the current end pose to the absolute value of the difference value.
It should be noted that the structure of the robot body may be implemented by using the prior art, which will not be described here.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (12)
1. The mechanical arm tail end linear motion control method based on the virtual target point is characterized by comprising the following steps of:
acquiring the current position of each joint of the mechanical arm, and calculating the Cartesian space pose of the tail end of the mechanical arm in the current period;
based on the Cartesian space pose of the tail end of the mechanical arm in the current period and the differential kinematics of the mechanical arm, calculating a jacobian matrix of the mechanical arm;
calculating a virtual target point position in the linear direction of the tail end of the mechanical arm in the next period based on the instruction speed and the starting position of the tail end of the given mechanical arm;
based on the virtual target point pose and the current tail end pose, correcting the command speed of the tail end of the mechanical arm of the next period, and calculating the speed setting of each joint of the mechanical arm by combining with the jacobian matrix of the mechanical arm so as to control the motion of each joint of the mechanical arm in the next period.
2. The virtual target point-based robot arm end rectilinear motion control method according to claim 1, further comprising:
judging whether the speed setting of each joint of the mechanical arm is zero, if so, ending the motion; otherwise, continuously calculating the virtual target point pose in the linear direction of the tail end of the mechanical arm in the next period, and recalculating the given speed of each joint of the mechanical arm.
3. The method for controlling linear motion of a distal end of a robot arm based on a virtual target point according to claim 1, wherein the initial command speed is corrected by using a correction coefficient in correcting the distal end command speed of the robot arm.
4. The virtual target point-based robot arm end rectilinear motion control method according to claim 3, wherein the correction coefficient is: the ratio of the difference value between the virtual target point pose and the current end pose to the absolute value of the difference value.
5. The method for controlling linear motion of a tail end of a mechanical arm based on a virtual target point according to claim 1, wherein in the process of calculating the Cartesian space pose of the tail end of the mechanical arm in the current period, the Cartesian space pose of the tail end of the mechanical arm in the current period is obtained based on the current position and the homogeneous matrix of each joint of the mechanical arm; the homogeneous matrix characterizes the corresponding relation between each joint of the mechanical arm and the tail end of the mechanical arm.
6. A robot arm end rectilinear motion control system based on virtual target points, characterized by comprising:
the mechanical arm tail end pose calculating module is used for obtaining the current positions of all joints of the mechanical arm and calculating the Cartesian space pose of the mechanical arm tail end in the current period;
the jacobian matrix calculation module is used for calculating the jacobian matrix of the mechanical arm based on the Cartesian space pose of the tail end of the mechanical arm in the current period and the differential kinematics of the mechanical arm;
the virtual target point position and pose calculating module is used for calculating the virtual target point position and pose of the tail end of the mechanical arm in the linear direction of the tail end of the mechanical arm in the next period based on the instruction speed and the starting point position and pose of the tail end of the given mechanical arm;
the joint given speed calculation module is used for correcting the command speed of the tail end of the mechanical arm in the next period based on the virtual target point pose and the current tail end pose, and calculating the speed given of each joint of the mechanical arm by combining with the jacobian matrix of the mechanical arm so as to control the motion of each joint of the mechanical arm in the next period.
7. The virtual target point based robot distal rectilinear motion control system of claim 6, further comprising:
the movement ending judging module is used for judging whether the speed setting of each joint of the mechanical arm is zero or not, and if yes, ending the movement; otherwise, continuously calculating the virtual target point pose in the linear direction of the tail end of the mechanical arm in the next period, and recalculating the given speed of each joint of the mechanical arm.
8. The virtual target point-based robot arm tip linear motion control system according to claim 6, wherein in the joint given speed calculation module, the original command speed is corrected using a correction coefficient in correcting the robot arm tip command speed.
9. The virtual target point-based robot arm tip linear motion control system of claim 8, wherein the correction factor is: the ratio of the difference value between the virtual target point pose and the current end pose to the absolute value of the difference value.
10. A robotic system, comprising: the robot comprises a robot body, a position sensing element and a controller, wherein the position sensing element is arranged at each joint of the mechanical arm and used for detecting the current position of each joint of the mechanical arm and transmitting the current position to the controller;
the controller is configured to:
based on the current positions of all joints of the mechanical arm, calculating the Cartesian space pose of the tail end of the mechanical arm in the current period;
based on the Cartesian space pose of the tail end of the mechanical arm in the current period and the differential kinematics of the mechanical arm, calculating a jacobian matrix of the mechanical arm;
calculating a virtual target point position in the linear direction of the tail end of the mechanical arm in the next period based on the instruction speed and the starting position of the tail end of the given mechanical arm;
based on the virtual target point pose and the current tail end pose, correcting the command speed of the tail end of the mechanical arm of the next period, and calculating the speed setting of each joint of the mechanical arm by combining with the jacobian matrix of the mechanical arm so as to control the motion of each joint of the mechanical arm in the next period.
11. The robotic system as claimed in claim 10 wherein in the controller, the correction factor is used to correct the original commanded speed during correction of the commanded speed at the end of the arm.
12. The robotic system as set forth in claim 11 wherein said correction factor is: the ratio of the difference value between the virtual target point pose and the current end pose to the absolute value of the difference value.
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