CN116713996A - High-speed excavating system based on ground cylinder fermented grain material robot and control method - Google Patents
High-speed excavating system based on ground cylinder fermented grain material robot and control method Download PDFInfo
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- CN116713996A CN116713996A CN202310784819.0A CN202310784819A CN116713996A CN 116713996 A CN116713996 A CN 116713996A CN 202310784819 A CN202310784819 A CN 202310784819A CN 116713996 A CN116713996 A CN 116713996A
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- 235000015096 spirit Nutrition 0.000 claims abstract description 12
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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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- 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
- 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
- B25J9/1697—Vision controlled systems
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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
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- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
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Abstract
The application discloses a high-speed digging system and a control method based on a ground cylinder fermented grain robot, and belongs to the technical field of control of brewing mechanical equipment. The problem of dig and get unstrained spirits material and dig and get efficiency based on robot force perception is solved. The application discloses a high-speed digging system based on a ground cylinder fermented grain material robot. The six-axis robot is controlled by an impedance control method, so that the robot can sense acting force, and the situation that the material is too shallow to cut into the fermented grains is avoided, and the equipment is prevented from being damaged even if the material is too deep to cut into the fermented grains is avoided; after the visual sensor detects the unstrained spirits depth of the unstrained spirits material area to be fetched, a signal is transmitted to the system controller, the system controller performs track planning on the six-axis robot, high-speed movement is performed in a safe distance above the unstrained spirits material area, low-speed movement is performed in a safe distance of the unstrained spirits material depth, and the speed of the material fetching device when cutting into the unstrained spirits material is ensured to be low-speed movement.
Description
Technical Field
The application belongs to the technical field of control of brewing mechanical equipment, and particularly relates to a high-speed digging system and a control method based on a ground cylinder fermented grain robot.
Background
In the brewing process, the raw materials are put into a ground jar, after a plurality of days of fermentation, the fermented raw materials in the ground jar are taken out manually for distillation and proportioning, and finally the wine or vinegar sold in the market is produced.
In the production process, the raw materials in the ground cylinder are required to be dug out by a worker from spade to spade. Because the structure of the ground cylinder is special and the number is large, the labor intensity of manual digging and taking of the fermented grains is high, and the young labor in industry is lacking, so that the ground cylinder is replaced by a robot. The existing material taking equipment in the brewing industry does not have a force sensing function, and the digging amount of each digging and the digging efficiency of the whole process cannot be guaranteed.
Disclosure of Invention
Aiming at the problems of digging and taking the fermented grains based on robot force sensing and digging and taking efficiency, the application provides a high-speed digging and taking system and a control method based on a ground cylinder fermented grains robot.
In order to achieve the above purpose, the present application adopts the following technical scheme:
a high-speed digging system based on a ground cylinder unstrained spirits material robot comprises a six-axis robot, a material taking device, a six-dimensional force sensor, a visual sensor and a system controller;
the six-axis robot is provided with a material taking device at the tail end, a six-dimensional force sensor is arranged between the material taking device and the six-axis robot, and the six-dimensional force sensor is used for detecting the acting force of the material taking device when the material taking device cuts into the fermented grains in real time; the visual sensor is arranged above the six-axis robot and is used for detecting the depth of the area to be subjected to unstrained spirits taking;
the system controller is respectively connected with the six-axis robot, the material taking device, the six-dimensional force sensor and the visual sensor.
Further, the six-axis robot is arranged on the ground or an Automatic Guided Vehicle (AGV), and the ground cylinder is arranged under the ground.
Further, the system controller is connected with the six-axis robot, the material taking device, the six-dimensional force sensor and the visual sensor through wires.
Further, the visual sensor is an RGB-D camera.
Further, the visual sensor is fixedly arranged above the six-axis robot through a visual sensor bracket; or the visual sensor is arranged at the tail end of the six-axis robot, forms a hand-eye system with the six-axis robot, and carries out depth detection on the area to be fermented grain material.
The control method of the high-speed digging system based on the ground cylinder unstrained spirits robot comprises the following steps:
step 1, controlling the six-axis robot through an impedance control method to enable the robot to sense acting force, ensuring that the robot can pass through the acting force, avoiding not only that the material taking amount is small due to the too shallow cutting of the material taking device into the fermented grain material, but also that the six-dimensional force sensor on the six-axis robot reaches an alarm acting force F due to the too deep cutting of the material taking device into the fermented grain material E Alarming and even damaging the equipment;
step 2, after the visual sensor detects the unstrained grain depth of the unstrained grain material taking area, transmitting a signal to a system controller, and carrying out track planning on the six-axis robot by the system controller, and carrying out high-speed motion v in a safe distance above the unstrained grain material area 1 The low-speed motion is carried out at the safe distance of the depth of the fermented grains, so that the speed of the material taking device when cutting into the fermented grains is ensured to be v 2 ；
Step 3, the six-axis robot moves at a low speed to drive the material taking device to cut into the fermented grains, and a speed initial value of an impedance control model is given, so that the low-speed movement of the material taking device when the material taking device contacts the fermented grains is continuous with the speed of a control track of impedance control;
and 4, outputting a result by the six-dimensional force sensor through the impedance control model, preventing joint overspeed or robot tail end overspeed, and carrying out speed clamping.
Further, the impedance control method comprises setting an alarm acting force F of the six-dimensional force sensor E And a safety margin F H ；
The transfer function of impedance control is formulated as:
obtaining an output X(s) by giving an input F(s); wherein K is set to 0, and the function of impedance control at this time is: when the input F is removed, the output is kept at the output position at the last moment;
the input F(s) for impedance control is: given the desired force F E -F H Value F detected with real-time force A Deviation E of (2); the absolute position of the impedance control reference is the actual position of the material taking device when the material taking device contacts the fermented grains, when F(s) =F is input E -F S When output X(s) =X is obtained R The method comprises the steps of carrying out a first treatment on the surface of the The impedance control moves towards the direction that the deviation E tends to 0, at the moment, the output of the transfer function of the impedance control keeps X(s) unchanged gradually, and the absolute position of the six-axis robot keeps X+X gradually R Is unchanged.
Further, the high-speed motion is the maximum speed which can be achieved by the six-axis robot and is used for realizing the high-speed operation of the six-axis robot; the low-speed movement is used for avoiding the problem that the six-axis robot alarms or damages equipment due to excessive instant acting force when the material taking device contacts with the fermented grains;
the six-axis robot moves at a low speed to drive the material taking device to cut into the fermented grains, and the initial speed value of the impedance control model is set, so that the low-speed movement of the material taking device when the material taking device contacts the fermented grains is continuous with the speed of the control track of the impedance control.
Further, in the step 3, the six-axis robot moves at a low speed to drive the material taking device to cut into the fermented grains, and a speed initial value of the impedance control model is given to enable the low-speed movement of the material taking device when the material taking device contacts the fermented grains to be continuous with the speed of the control track of the impedance control, and the method specifically comprises the following steps:
step 3.1, after the visually detected material level depth is obtained, adding a section of safety distance; the robot is controlled to accelerate from the current position to high-speed movement from zero, when the material taking device reaches a safe distance above the depth of the fermented grains, the movement speed is changed from high-speed movement to low-speed movement, and the material taking device cuts into the fermented grains at the low-speed movement;
step 3.2, dividing the track gauge based on visual detection of the material level depth into 5 sections, and 0 to t 1 The segment indicates that the speed is accelerating from 0 to v 1 ，t 1 ～t 2 Segment representation at speed v 1 Uniform motion, t 2 ～t 3 The segment indicates the velocity from v 1 Decelerating to v 2 ，t 3 ～t 4 Expressed in terms of velocity v 2 Uniform motion, t 4 ～t 5 Indicating the velocity from v 2 Decelerating to 0; wherein the safe distance is not less than t 2 ～t 3 Displacement of the segments;
step 3.3, performing speed switching by using a fourth-order polynomial fit S-shaped curve for the change of the speed for the second time, dividing the track gauge into two sections of processing, namely, two times of acceleration-uniform speed-deceleration, wherein the initial acceleration speed and the uniform speed for the second time are the same, namely, the acceleration displacement and the acceleration time are both 0;
step 3.4, selecting interpolation points at intervals of fixed control periods according to track planning based on visual detection of the material level depth, and calculating the positions of the interpolation points in a three-dimensional space; and solving the interpolation points of each three-dimensional space through inverse kinematics of the robot to obtain the positions of the corresponding joints, and then issuing the positions to each servo motor in each control period to control the six-axis robot to move.
Further, in the step 4, the six-dimensional force sensor prevents joint overspeed or robot end overspeed by outputting a result through the impedance control model, and the step of performing speed clamping includes the following steps:
step 4.1, calculating different outputs S2 of the three-dimensional force and moment through impedance control transfer functions respectively through the return values of the six-dimensional force sensor, and respectively corresponding to the three-dimensional space target positions P x 、P y 、P z And three-dimensional spatial target pose R x 、R y 、R z ；
Step 4.2, target position and posture P through three-dimensional space x 、P y 、P z 、R x 、R y 、R z Calculating inverse kinematics solution to obtain each joint targetA location;
step 4.3, calculating the current position and the target position of each joint and a control period, calculating whether the maximum speed of the joint is exceeded, and if the maximum speed of the joint is exceeded, calculating the target linear speed and the target angular speed of the tail end of the robot through a Jacobian matrix according to the maximum speed of the joint;
step 4.4, judging whether the current linear speed and the angular speed exceed the low speed v 2 If exceeding v 2 I.e. taking this speed as the target line speed;
the target linear velocity and the target angular velocity are reversely pushed to the contact force of the theoretical six-dimensional force sensor, and the contact force is substituted into the impedance control again to calculate the target position P x 、P y 、P z 、R x 、R y 、R z 。
Compared with the prior art, the application has the following advantages:
in the fermented grain material digging industry, a force sensing based fermented grain material digging technology of a robot is used, and simultaneously, the visual sense is combined to ensure the fermented grain material level depth and the high-speed and low-speed linear planning to ensure the fermented grain material digging efficiency.
Drawings
The application is further described below with reference to the accompanying drawings.
FIG. 1 is a schematic diagram of the composition of the present application.
Fig. 2 is a block diagram of impedance control according to the present application.
Fig. 3 is an equivalent block diagram of impedance control resulting from the exploded variant of fig. 2.
FIG. 4 is a graph of a track-planned speed-transit-planned graph based on visually detected fill level depth.
In the figure: the robot comprises a six-axis robot body 1, a material taking device 2, a six-dimensional force sensor 3, a visual sensor 4, a system controller 5, a ground cylinder 6, a visual sensor bracket 7 and the ground 8.
Detailed Description
Example 1
High-speed digging system based on ground jar unstrained spirits material robot is as shown in fig. 1: the six-axis robot comprises a six-axis robot 1, a material taking device 2, a six-dimensional force sensor 3, a visual sensor 4 and a system controller 5;
the six-axis robot 1 is provided with a material taking device 2 at the tail end, a six-dimensional force sensor 3 is arranged between the material taking device 2 and the six-axis robot 1, and the six-dimensional force sensor 3 is used for detecting the acting force of the material taking device 2 when the material taking device 2 cuts into the fermented grains in real time; the visual sensor 4 is arranged above the six-axis robot 1 and is used for detecting the depth of a region to be subjected to unstrained spirits taking;
the system controller 5 is respectively connected with the six-axis robot 1, the material taking device 2, the six-dimensional force sensor 3 and the visual sensor 4.
The six-axis robot 1 is arranged on the ground 8, and the ground cylinder 6 is arranged under the ground 8.
The system controller 5 is connected with the six-axis robot 1, the material taking device 2, the six-dimensional force sensor 3 and the visual sensor 4 through wires.
The vision sensor 4 is an RGB-D camera.
The visual sensor 4 is fixedly arranged above the six-axis robot 1 through a visual sensor bracket 7; or the vision sensor 4 is arranged at the tail end of the six-axis robot 1, forms a hand-eye system with the six-axis robot 1, and carries out depth detection on the area to be fermented grain material taking.
Example 2
The control method of the high-speed excavating system based on the ground cylinder fermented grain robot according to embodiment 1 comprises the following steps:
step 1, a six-axis robot 1 is controlled through an impedance control method, so that the robot can sense acting force, the size of the acting force can be guaranteed, the situation that the material taking amount is small due to the fact that a material taking device 2 is too shallow in the fermented grain material is avoided, and the situation that a six-dimensional force sensor 3 on the six-axis robot 1 reaches an alarm acting force F due to the fact that the material taking device 2 is too deep in the fermented grain material is avoided E Alarming and even damaging the equipment;
the impedance control method comprises setting the alarm acting force F of the six-dimensional force sensor 3 E And a safety margin F H ；
The transfer function of impedance control is formulated as:
the control block diagram of the transfer function is shown in fig. 2, the control block diagram is simplified as shown in fig. 3, and the control block diagram of fig. 3 is implemented using a program.
Wherein F(s) represents an input, X(s) represents an output, ms represents, bs represents, K represents,
obtaining an output X(s) by giving an input F(s); wherein K is set to 0, and the function of impedance control at this time is: when the input F is removed, the output is kept at the output position at the last moment;
the input F(s) for impedance control is: given the desired force F E -F H Value F detected with real-time force A Deviation E of (2); the absolute position of the impedance control reference is the actual position of the material taking device 2 at the moment of contacting the fermented grains, when F(s) =F is input E -F S When output X(s) =X is obtained R The method comprises the steps of carrying out a first treatment on the surface of the The impedance control moves toward the direction that the deviation E tends to 0, and at this time, the output of the impedance control transfer function gradually keeps X(s) unchanged, and the absolute position of the six-axis robot 1 gradually keeps X+X R Is unchanged.
Step 2, after the visual sensor 4 detects the unstrained grain depth of the unstrained grain material taking area, transmitting a signal to the system controller 5, and the system controller 5 performs track planning on the six-axis robot 1 and performs high-speed motion v in a safe distance above the unstrained grain material area 1 The low-speed movement is carried out at the safe distance of the depth of the fermented grains, so that the speed of the material taking device 2 when cutting into the fermented grains is ensured to be v 2 ；
The high-speed motion is the maximum speed which can be achieved by the six-axis robot 1 and is used for realizing the high-speed operation of the six-axis robot 1; the low-speed movement is used for avoiding the situation that the six-axis robot 1 alarms or damages equipment due to excessive instant acting force when the material taking device 2 contacts with the fermented grains;
the six-axis robot 1 moves at a low speed to drive the material taking device 2 to cut into the fermented grains, and the initial speed value of the impedance control model is given, so that the low-speed movement of the material taking device 2 when the material taking device contacts the fermented grains is continuous with the speed of the control track of the impedance control.
Step 3, the six-axis robot 1 moves at a low speed to drive the material taking device 2 to cut into the fermented grains, and a speed initial value of an impedance control model is given to ensure that the low-speed movement of the material taking device 2 when contacting the fermented grains is continuous with the speed of a control track of impedance control;
step 3.1, after the visually detected material level depth is obtained, adding a section of safety distance; the robot is controlled to accelerate from the current position to high-speed movement from zero, when the material taking device reaches a safe distance above the depth of the fermented grains, the movement speed is changed from high-speed movement to low-speed movement, and the material taking device cuts into the fermented grains at the low-speed movement;
step 3.2, as shown in FIG. 4, the track gauge based on the visual detection of the level depth is divided into 5 sections, 0-t 1 The segment indicates that the speed is accelerating from 0 to v 1 ，t 1 ～t 2 Segment representation at speed v 1 Uniform motion, t 2 ～t 3 The segment indicates the velocity from v 1 Decelerating to v 2 ，t 3 ～t 4 Expressed in terms of velocity v 2 Uniform motion, t 4 ～t 5 Indicating the velocity from v 2 Decelerating to 0; wherein the safe distance is not less than t 2 ～t 3 Displacement of the segments;
step 3.3, in step 3.1, the speed is switched from zero to high-speed motion and from high-speed motion to low-speed motion, the speed is switched by using a fourth-order polynomial fit S-shaped curve, the track gauge is divided into two sections of processing, namely two times of acceleration-constant speed-deceleration, wherein the initial acceleration speed from high-speed motion to low-speed motion is the same as the constant speed, namely the acceleration displacement and the acceleration time are both 0;
step 3.4, selecting interpolation points at intervals of fixed control periods according to track planning based on visual detection of the material level depth, and calculating the positions of the interpolation points in a three-dimensional space; the interpolation points of each three-dimensional space are subjected to inverse kinematics solution through the six-axis robot 1 to obtain the corresponding positions of all joints, and then the positions are issued to each servo motor in each control period to control the six-axis robot 1 to move.
And 4, the six-dimensional force sensor 3 performs speed clamping by preventing joint overspeed or robot terminal overspeed according to the output result of the impedance control model.
Step 4.1, calculating three-dimensional force and moment (six data) respectively through different outputs S2 of impedance control transfer function according to the return value of the six-dimensional force sensor 3, and respectively corresponding to the three-dimensional space target position P x 、P y 、P z And three-dimensional spatial target pose R x 、R y 、R z ；
Step 4.2, target position and posture P through three-dimensional space x 、P y 、P z 、R x 、R y 、R z Calculating a kinematic inverse solution to obtain the target position of each joint;
step 4.3, calculating the current position and the target position of each joint and a control period, calculating whether the maximum speed of the joint is exceeded, and if the maximum speed of the joint is exceeded, calculating the target linear speed and the target angular speed of the tail end of the robot through a Jacobian matrix according to the maximum speed of the joint;
step 4.4, judging whether the current linear speed and the angular speed exceed the low speed v 2 If exceeding v 2 I.e. with the current linear and angular speed as target linear speeds; the target linear velocity and the target angular velocity are used to reversely push the contact force of the theoretical six-dimensional force sensor 3, and the contact force is substituted into the impedance control again to calculate the target position P x 、P y 、P z 、R x 、R y 、R z 。
What is not described in detail in the present specification belongs to the prior art known to those skilled in the art. While the foregoing describes illustrative embodiments of the present application to facilitate an understanding of the present application by those skilled in the art, it should be understood that the present application is not limited to the scope of the embodiments, but is to be construed as protected by the accompanying claims insofar as various changes are within the spirit and scope of the present application as defined and defined by the appended claims.
Claims (10)
1. High-speed system of getting of digging based on ground jar unstrained spirits material robot, its characterized in that: the device comprises a six-axis robot (1), a material taking device (2), a six-dimensional force sensor (3), a visual sensor (4) and a system controller (5);
the six-axis robot (1) is provided with a material taking device (2) at the tail end, a six-dimensional force sensor (3) is arranged between the material taking device (2) and the six-axis robot (1), and the six-dimensional force sensor (3) is used for detecting the acting force of the material taking device (2) when the material taking device cuts into the fermented grains in real time; the visual sensor (4) is arranged above the six-axis robot (1) and is used for detecting the depth of a to-be-extracted fermented grain material area;
the system controller (5) is respectively connected with the six-axis robot (1), the material taking device (2), the six-dimensional force sensor (3) and the visual sensor (4).
2. The high-speed excavating system based on a ground cylinder fermented grain robot according to claim 1, wherein the high-speed excavating system is characterized in that: the six-axis robot (1) is arranged on the ground (8) or an automatic guiding vehicle, and the ground cylinder (6) is arranged under the ground (8).
3. The high-speed excavating system based on a ground cylinder fermented grain robot according to claim 1, wherein the high-speed excavating system is characterized in that: the system controller (5) is connected with the six-axis robot (1), the material taking device (2), the six-dimensional force sensor (3) and the visual sensor (4) through wires.
4. The high-speed excavating system based on a ground cylinder fermented grain robot according to claim 1, wherein the high-speed excavating system is characterized in that: the vision sensor (4) is an RGB-D camera.
5. The high-speed excavating system based on a ground cylinder fermented grain robot according to claim 1, wherein the high-speed excavating system is characterized in that: the visual sensor (4) is fixedly arranged above the six-axis robot (1) through a visual sensor bracket (7); or the visual sensor (4) is arranged at the tail end of the six-axis robot (1), forms a hand-eye system with the six-axis robot (1), and carries out depth detection on the area to be fermented grain material taking.
6. The control method of the high-speed excavating system based on the ground cylinder fermented grain robot according to claim 1, wherein the control method comprises the following steps: the method comprises the following steps:
step 1, a six-axis robot (1) is controlled through an impedance control method, so that the robot can sense acting force, the robot can be guaranteed to be capable of passing through the acting force, the situation that the material taking amount is small due to the fact that a material taking device (2) is too shallow in a fermented grain material is avoided, and the situation that a six-dimensional force sensor (3) on the six-axis robot (1) is enabled to achieve alarm acting force F due to the fact that the material taking device (2) is too deep in the fermented grain material is avoided E Alarming and even damaging the equipment;
step 2, after the visual sensor (4) detects the fermented grain depth of the fermented grain material taking area, transmitting a signal to the system controller (5), and the system controller (5) performs track planning on the six-axis robot (1) to perform high-speed motion v in a safe distance above the fermented grain material taking area 1 The material taking device (2) moves at a low speed at a safe distance of the depth of the fermented grains, so that the speed of the material taking device (2) when cutting into the fermented grains is ensured to be v 2 ；
Step 3, the six-axis robot (1) moves at a low speed to drive the material taking device (2) to cut into the fermented grains, and the initial speed value of the impedance control model is given, so that the low-speed movement of the material taking device (2) when contacting the fermented grains is continuous with the speed of the control track of the impedance control;
and 4, outputting a result by the six-dimensional force sensor (3) through an impedance control model, preventing joint overspeed or robot tail end overspeed, and carrying out speed clamping.
7. The control method according to claim 6, characterized in that: the impedance control method comprises setting an alarm acting force F of a six-dimensional force sensor (3) E And a safety margin F H ；
The transfer function of impedance control is formulated as:
wherein F(s) represents an input, X(s) represents an output, ms represents, bs represents, K represents,
obtaining an output X(s) by giving an input F(s); wherein K is set to 0, and the function of impedance control at this time is: when the input F is removed, the output is kept at the output position at the last moment;
the input F(s) for impedance control is: given the desired force F E -F H Value F detected with real-time force A Deviation E of (2); the absolute position of the impedance control reference is the actual position of the material taking device (2) at the moment of contacting the fermented grains, when F(s) =F is input E -F S When output X(s) =X is obtained R The method comprises the steps of carrying out a first treatment on the surface of the The impedance control moves towards the direction that the deviation E tends to 0, at the moment, the output of the transfer function of the impedance control keeps X(s) unchanged gradually, and the absolute position of the six-axis robot (1) keeps X+X gradually R Is unchanged.
8. The control method according to claim 6, characterized in that: the high-speed motion is the maximum speed which can be achieved by the six-axis robot (1) and is used for realizing the high-speed operation of the six-axis robot (1); the low-speed movement is used for avoiding the situation that the six-axis robot (1) alarms or damages equipment due to excessive instant acting force when the material taking device (2) contacts with the fermented grains;
the six-axis robot (1) moves at a low speed to drive the material taking device (2) to cut into the fermented grains, and the initial speed value of the impedance control model is given, so that the low-speed movement of the material taking device (2) when the material taking device contacts the fermented grains is continuous with the speed of the control track of the impedance control.
9. The control method according to claim 6, characterized in that: step 3, the six-axis robot (1) moves at a low speed to drive the material taking device (2) to cut into the fermented grains, and a speed initial value of an impedance control model is given to ensure that the speed of the control track of the low-speed movement and the impedance control when the material taking device (2) contacts the fermented grains is continuous, and the method specifically comprises the following steps:
step 3.1, after the visually detected material level depth is obtained, adding a section of safety distance; the robot is controlled to start at the current position and posture, the robot is accelerated to move at a high speed from the speed of zero, when the material taking device reaches a safe distance on the depth of the fermented grains, the movement speed is changed from the high speed to the low speed, and the material taking device cuts into the fermented grains at the low speed;
step 3.2, dividing the track gauge based on visual detection of the material level depth into 5 sections, and 0 to t 1 The segment indicates that the speed is accelerating from 0 to v 1 ，t 1 ～t 2 Segment representation at speed v 1 Uniform motion, t 2 ～t 3 The segment indicates the velocity from v 1 Decelerating to v 2 ，t 3 ～t 4 Expressed in terms of velocity v 2 Uniform motion, t 4 ～t 5 Indicating the velocity from v 2 Decelerating to 0; wherein the safe distance is not less than t 2 ～t 3 Displacement of the segments;
step 3.3, in step 3.1, the speed is switched from zero to high-speed movement and from high-speed movement to low-speed movement, the speed is switched by using a fourth-order polynomial fit S-shaped curve, the track gauge is divided into two sections of processing, namely, two times of acceleration-constant speed-deceleration, the ending speed of the first section is low-speed, the starting speed and the constant speed of the second section are the same, namely, the acceleration displacement and the acceleration time are both 0;
step 3.4, selecting interpolation points at intervals of fixed control periods according to track planning based on visual detection of the material level depth, and calculating the positions of the interpolation points in a three-dimensional space; the interpolation points of each three-dimensional space are subjected to inverse kinematics solution through the six-axis robot (1), the corresponding joint positions are obtained, and then the positions are issued to each servo motor in each control period to control the six-axis robot (1) to move.
10. The control method according to claim 6, characterized in that: and 4, the six-dimensional force sensor (3) prevents joint overspeed or robot tail end overspeed through the output result of the impedance control model, and the speed clamping comprises the following steps:
step 4.1, calculating different outputs S2 of the three-dimensional force and the moment through impedance control transfer functions respectively through the return values of the six-dimensional force sensor (3), and respectively corresponding to the three-dimensional space target positions P x 、P y 、P z And three-dimensional spatial target pose R x 、R y 、R z ；
Step 4.2, target position and posture P through three-dimensional space x 、P y 、P z 、R x 、R y 、R z Calculating a kinematic inverse solution to obtain the target position of each joint;
step 4.3, calculating the current position and the target position of each joint and a control period, calculating whether the maximum speed of the joint is exceeded, and if the maximum speed of the joint is exceeded, calculating the target linear speed and the target angular speed of the tail end of the robot through a Jacobian matrix according to the maximum speed of the joint;
step 4.4, judging whether the current linear speed and the angular speed exceed the low speed v 2 If exceeding v 2 I.e. with the current linear and angular speed as target linear speeds; the target linear velocity and the target angular velocity are reversely pushed to the contact force and moment of the theoretical six-dimensional force sensor (3), and are substituted into the impedance control again to calculate the target position and the gesture P x 、P y 、P z 、R x 、R y 、R z 。
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117125495A (en) * | 2023-10-24 | 2023-11-28 | 山西万立科技有限公司 | Robot material taking mechanism based on ground cylinder fermented grains and material taking control method |
| CN117944056A (en) * | 2024-03-26 | 2024-04-30 | 北京云力境安科技有限公司 | Six-dimensional force sensor-based mechanical arm control method and device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117125495A (en) * | 2023-10-24 | 2023-11-28 | 山西万立科技有限公司 | Robot material taking mechanism based on ground cylinder fermented grains and material taking control method |
| CN117125495B (en) * | 2023-10-24 | 2024-01-23 | 山西万立科技有限公司 | Robot material taking mechanism based on ground cylinder fermented grains and material taking control method |
| CN117944056A (en) * | 2024-03-26 | 2024-04-30 | 北京云力境安科技有限公司 | Six-dimensional force sensor-based mechanical arm control method and device |
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