CN117381805B - Mechanical arm operation control method and system for conflict handling - Google Patents
Mechanical arm operation control method and system for conflict handling Download PDFInfo
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Classifications
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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
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
Abstract
The application provides a method and a system for controlling operation of a mechanical arm facing conflict handling, comprising the following steps: collecting a motion parameter set of a mechanical arm to be controlled, wherein the motion parameter set comprises: the motion parameters of all joints in the mechanical arm to be controlled; according to the motion parameters of each joint, the motion forms of the motion parameters and the historical control flow, deciding whether the conflict motion parameters exist in the motion parameter set, if so, taking the joint corresponding to the conflict motion parameters as a conflict joint to complete the operation control of the mechanical arm to be controlled, and improving the accuracy of the application operation control and the safety of the application operation; the motion parameters can be automatically collected in real time, the operation is controlled, and the motion parameters in different time periods can be self-adapted; the time sequence data model obtained based on the historical data learning training does not depend on expert experience, and has high operation control precision and less false alarm; the method is suitable for various application scenes and has good portability.
Description
Technical Field
The application relates to the technical field of data processing, in particular to a method and a system for controlling operation of a mechanical arm facing conflict handling.
Background
Motion planning is a fundamental problem of robot research, and early motion planning mainly aims at a mobile robot, and the mobile robot is regarded as a particle of a two-dimensional plane, so that a collision-free path from a starting point to a target point is searched. The current path planning method for the mobile robot is quite abundant, and the current method mainly comprises Dijkstra algorithm, A-algorithm, artificial potential field method, group intelligent algorithm and the like. Aiming at the multi-input multi-output nonlinear strong-coupling high-dimensional complex system of the mechanical arm, the methods have the defects of long corresponding time, large calculated amount, easy sinking into local optimum and the like, and cannot realize the on-line obstacle avoidance of the mechanical arm. Therefore, the on-line real-time obstacle avoidance motion planning of the mechanical arm is a key problem of mechanical arm control.
For a mobile robot, the base and the robot generally have no degrees of freedom that are less than the task space dimension, so the mobile robot is redundant. In the case of cooperative control of the primary task, each mobile robot also has redundancy to accomplish some other secondary tasks, or to optimize the objective. Therefore, a task priority concept needs to be introduced, so that when primary and secondary tasks exist simultaneously, the mobile mechanical arm can perform motion control according to task levels, and the task with low priority is ensured not to influence the task with high priority, so that the possible conflict problem is solved.
Disclosure of Invention
Aiming at the problems in the prior art, the application provides a collision-coping-oriented mechanical arm operation control method and a collision-coping-oriented mechanical arm operation control system, which can improve the accuracy of application operation control and further improve the safety of application operation.
In order to solve the technical problems, the application provides the following technical scheme:
in a first aspect, the present application provides a method for controlling operation of a robot arm for conflict resolution, including:
collecting a motion parameter set of a mechanical arm to be controlled, wherein the motion parameter set comprises: the motion parameters of all joints in the mechanical arm to be controlled;
deciding whether conflict motion parameters exist in the motion parameter set according to the motion parameters of each joint, the motion forms of the motion parameters and the historical control flow;
if the conflict motion parameters exist in the motion parameter set, taking a joint corresponding to the conflict motion parameters as a conflict joint to complete the operation control of the mechanical arm to be controlled.
Further, the determining whether the motion parameter set has conflicting motion parameters according to the motion parameters of each joint, the motion forms of the motion parameters and the historical control flow includes:
If the first motion parameters in the translational form exist in the motion parameter set, carrying out standardization processing on the first motion parameters;
deciding the discrete degree of each first motion parameter according to the average value of the normalized first motion parameters;
and deciding whether collision motion parameters exist in the motion parameter set according to the dynamic average value threshold and the discrete degree of each first motion parameter.
Further, if the motion parameter set has a conflicting motion parameter, the joint corresponding to the conflicting motion parameter is used as a conflicting joint to complete the operation control of the mechanical arm to be controlled, including:
if the first motion parameter with the discrete degree larger than the dynamic average value threshold exists, taking a joint corresponding to the first motion parameter as a conflict joint to complete the operation control of the mechanical arm to be controlled.
Further, the determining whether the motion parameter set has conflicting motion parameters according to the motion parameters of each joint, the motion forms of the motion parameters and the historical control flow includes:
if the second motion parameters of the rotation form exist in the motion parameter set, a comparison experiment method and a binary calculation method are applied to control the second motion parameters;
And deciding whether conflict motion parameters exist in the motion parameter set according to the control result parameter threshold and the control result parameters of each second motion parameter.
Further, if the motion parameter set has a conflicting motion parameter, the joint corresponding to the conflicting motion parameter is used as a conflicting joint to complete the operation control of the mechanical arm to be controlled, including:
if the second motion parameter with the control result parameter being larger than the control result parameter threshold exists, taking a joint corresponding to the second motion parameter as a conflict joint to complete the operation control of the mechanical arm to be controlled.
Further, the determining whether the motion parameter set has conflicting motion parameters according to the motion parameters of each joint, the motion forms of the motion parameters and the historical control flow includes:
if the third motion parameter with the stable form exists in the motion parameter set, carrying out standardization processing on the third motion parameter;
a sliding window and a third motion parameter are applied to obtain a stability value;
performing conflict control by applying a time sequence data conflict control algorithm and a stability value;
and according to the result of the conflict control, deciding whether the conflict motion parameters exist in the motion parameter set.
Further, if the motion parameter set has a conflicting motion parameter, the joint corresponding to the conflicting motion parameter is used as a conflicting joint to complete the operation control of the mechanical arm to be controlled, including:
if the result of the conflict control is that the third motion parameter is 1, taking the joint corresponding to the third motion parameter as the conflict joint to complete the operation control of the mechanical arm to be controlled.
Further, in the step of collecting the motion parameter set of the mechanical arm to be controlled, the motion parameter set includes: after the motion parameters of each joint in the mechanical arm to be controlled, the method further comprises the following steps:
and applying a historical time sequence data prediction model to obtain a predicted value of a motion parameter corresponding to the 180-degree rotary joint, wherein the joint comprises: 180 degree revolute joints and non-180 degree revolute joints;
obtaining the controllability of the 180-degree rotary joint according to the discrete degree between the motion parameter and the predicted value of the 180-degree rotary joint;
weighting and summing the controllability of each sub-joint corresponding to the non-180-degree rotary joint to obtain the controllability of the non-180-degree rotary joint;
and according to the controllability threshold and the controllability of each joint, deciding whether a conflict joint exists in the mechanical arm to be controlled so as to complete the operation control of the mechanical arm to be controlled.
In a second aspect, the present application provides a robot arm operation control system for conflict-oriented handling, including:
the acquisition module is used for acquiring a motion parameter set of the mechanical arm to be controlled, and the motion parameter set comprises: the motion parameters of all joints in the mechanical arm to be controlled;
the judging module is used for judging whether conflict motion parameters exist in the motion parameter set according to the motion parameters of each joint, the motion forms of the motion parameters and the historical control flow;
and the first operation control module is used for taking a joint corresponding to the conflict motion parameter as a conflict joint if the conflict motion parameter exists in the motion parameter set so as to complete the operation control of the mechanical arm to be controlled.
Further, the robot arm operation control system facing conflict handling further includes:
the application module is used for applying the historical time sequence data prediction model to obtain a predicted value of a motion parameter corresponding to the 180-degree rotary joint, and the joint comprises: 180 degree revolute joints and non-180 degree revolute joints;
the controllability decision module is used for obtaining the controllability of the 180-degree rotary joint according to the discrete degree between the motion parameter and the predicted value of the 180-degree rotary joint;
The weighted summation module is used for weighted summation of the controllability of each sub-joint corresponding to the non-180-degree rotary joint to obtain the controllability of the non-180-degree rotary joint;
and the second operation control module is used for deciding whether collision joints exist in the mechanical arm to be controlled according to the controllability threshold and the controllability of each joint so as to complete the operation control of the mechanical arm to be controlled.
In a third aspect, the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the method for controlling operation of a robot for conflict resolution when executing the program.
In a fourth aspect, the present application provides a computer readable storage medium having stored thereon computer instructions that, when executed, implement the conflict-handling oriented robotic arm operation control method.
According to the technical scheme, the application provides a method and a system for controlling the operation of the mechanical arm for conflict handling. Wherein the method comprises the following steps: collecting a motion parameter set of a mechanical arm to be controlled, wherein the motion parameter set comprises: the motion parameters of all joints in the mechanical arm to be controlled; according to the motion parameters of each joint, the motion forms of the motion parameters and the historical control flow, deciding whether the motion parameters have conflict motion parameters in the motion parameter set, if so, taking the joint corresponding to the conflict motion parameters as a conflict joint to finish the operation control of the mechanical arm to be controlled, so that the accuracy of the application operation control can be improved, and the safety of the application operation can be further improved; specifically, the motion parameters can be automatically collected in real time, and the operation control is performed based on the motion parameters, so that the motion parameter change in different time periods can be self-adapted; based on a time sequence data model obtained by learning and training historical data, the method does not depend on expert experience, and has high operation control precision and less false alarm; meanwhile, the method is suitable for various application scenes and has good portability.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a first flow chart of a method for controlling operation of a robot arm facing conflict resolution in an embodiment of the present application;
FIG. 2 is a second flow chart of a method for controlling operation of a robot arm facing conflict resolution in an embodiment of the present application;
FIG. 3 is a third flow diagram of a method for controlling operation of a robotic arm facing conflict resolution in an embodiment of the present application;
fig. 4 is a fourth flowchart of a method for controlling operation of a robot arm facing conflict resolution in an embodiment of the present application;
fig. 5 is a schematic structural diagram of a robot arm operation control system facing conflict handling in the embodiment of the present application.
Detailed Description
In order to better understand the technical solutions in the present specification, the following description will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
At present, the application is mainly operated and controlled according to a fixed threshold value and a motion parameter which are set by people, if the current motion parameter exceeds the set fixed threshold value, the application is decided to operate, the fixed threshold value is difficult to be adjusted in a self-adaptive mode according to different time and scenes, the setting of the threshold value depends on expert knowledge, misinformation and omission of the operation are easy to cause, and portability is poor.
It should be noted that, the method and system for controlling operation of the mechanical arm for conflict handling disclosed in the present application may be used in the technical field of mechanical control, and may also be used in any field other than the technical field of mechanical control, and the application field of the method and system for controlling operation of the mechanical arm for conflict handling disclosed in the present application is not limited.
The following examples are presented in detail.
In order to improve accuracy of application operation control and further improve safety of application operation, the embodiment provides a conflict-oriented mechanical arm operation control method of a mechanical arm operation control system with a conflict oriented execution subject, where the conflict-oriented mechanical arm operation control system includes, but is not limited to, a server, as shown in fig. 1, and the method specifically includes the following:
Step 100: collecting a motion parameter set of a mechanical arm to be controlled, wherein the motion parameter set comprises: and the motion parameters of all joints in the mechanical arm to be controlled.
Specifically, a motion parameter set of the mechanical arm to be controlled may be acquired at regular time, where the motion parameter set includes: the motion parameters of all joints in the mechanical arm to be controlled; the mechanical arm to be controlled can be a hierarchical distributed application, the joints can be servers, the mechanical arm to be controlled can comprise multistage joints, the sub joints can be the next stage joints connected with the joints, and the 180-degree rotary joints have no sub joints. The motion parameters may include: the task success rate may be a transaction success rate, and the historical time period may be set according to actual needs, which is not limited in this application.
Step 200: and deciding whether conflict motion parameters exist in the motion parameter set according to the motion parameters of each joint, the motion forms of the motion parameters and the historical control flow.
Step 300: if the conflict motion parameters exist in the motion parameter set, taking a joint corresponding to the conflict motion parameters as a conflict joint to complete the operation control of the mechanical arm to be controlled.
Wherein, the motion state of the motion parameter comprises: translational, rotational, and stable configurations.
Specifically, for any one of the motion parameters x in the motion parameter set, the checking and judging method may be directly applied to judge whether the motion parameter x is in a translational form, if not, the index information with a difference value greater than a difference threshold value between the index information and the average value of the index information may be removed from the index information (for example, the task success times, the response time and the transaction amount) in the history period corresponding to the motion parameter x, the average value of the remaining index information is used as the screened motion parameter, the screened motion parameter and the checking and judging method are applied to judge whether the motion parameter x is in a rotational form, and if not, the differential algorithm is applied to judge whether the motion parameter x is in a stable form.
To further improve the accuracy of the operation control, referring to fig. 2, in one embodiment of the present application, step 200 includes:
step 211: and if the first motion parameters in the translational form exist in the motion parameter set, carrying out standardization processing on the first motion parameters.
It is understood that the first motion parameter is a motion parameter of a translational modality.
Step 212: and deciding the discrete degree of each first motion parameter according to the average value of the normalized first motion parameters.
Specifically, the degree of dispersion of each first motion parameter may be defined as the specific gravity of the average value of the absolute value of the difference between the first motion parameter and the average value.
Step 213: and deciding whether collision motion parameters exist in the motion parameter set according to the dynamic average value threshold and the discrete degree of each first motion parameter.
If the motion parameters include multiple first motion parameters, such as task success rate and transaction amount of the translation form, the steps 211 to 213 are performed by applying each first motion parameter, that is, performing normalization processing on each first motion parameter, obtaining respective average values of each first motion parameter, and determining the degree of dispersion of each first motion parameter by applying the respective average value of each first motion parameter.
To further improve the reliability of the conflicting joint decisions, following step 200, it may further comprise:
if the first motion parameter with the discrete degree larger than the dynamic average value threshold exists, taking a joint corresponding to the first motion parameter as a conflict joint to complete the operation control of the mechanical arm to be controlled.
To further improve the accuracy of the operation control, referring to fig. 3, in one embodiment of the present application, step 200 includes:
step 221: and if the second motion parameters of the rotation form exist in the motion parameter set, a comparison experiment method and a binary calculation method are applied to control the second motion parameters.
It is understood that the second motion parameter is a motion parameter of a rotational morphology.
Step 222: and deciding whether conflict motion parameters exist in the motion parameter set according to the control result parameter threshold and the control result parameters of each second motion parameter.
If the second motion parameters include multiple second motion parameters, each second motion parameter is used to perform the steps 221 and 222, if the second motion parameters include a task success rate and a transaction amount in a rotation mode, the task success rate in a rotation mode is used to perform the steps 221 and 222, and the transaction amount in a rotation mode is used to perform the steps 221 and 222.
To further improve the reliability of the conflicting joint decisions, following step 200, it may further comprise:
if the second motion parameter with the control result parameter being larger than the control result parameter threshold exists, taking a joint corresponding to the second motion parameter as a conflict joint to complete the operation control of the mechanical arm to be controlled.
To further improve the accuracy of the operation control, referring to fig. 4, in one embodiment of the present application, step 200 includes:
step 231: and if the third motion parameter with the stable form exists in the motion parameter set, carrying out standardization processing on the third motion parameter.
It is understood that the third motion parameter is a motion parameter of a stable morphology.
Step 232: and applying the sliding window and the third motion parameter to obtain a stability value.
Specifically, the sliding window may represent time periods, and each time period may correspond to a time range of one day or 1 minute, and the stability value is a data change at the same position with respect to the previous time period, which may be understood as a ring ratio.
For example, the motion parameter curves formed by the motion parameters of all the stability patterns correspond to a plurality of adjacent time periods t1, t2, t3 and … … tn, and the difference between the motion parameters at the same positions in t2 and t1 can be calculated, and the difference … … between the motion parameters at the same positions in t3 and t2 is taken as the stability value.
Step 233: and performing conflict control by applying a time sequence data conflict control algorithm and a stability value.
Step 234: and according to the result of the conflict control, deciding whether the conflict motion parameters exist in the motion parameter set.
If multiple third motion parameters are included, such as task success rate and transaction amount of the stability form, each third motion parameter may be used to execute steps 231 to 234.
To further improve the reliability of the conflicting joint decisions, following step 200, it may further comprise:
if the result of the conflict control is that the third motion parameter is 1, taking the joint corresponding to the third motion parameter as the conflict joint to complete the operation control of the mechanical arm to be controlled.
To further improve the accuracy and intelligence of the operation control, in one embodiment of the present application, after step 100, the method further includes:
step 400: and applying a historical time sequence data prediction model to obtain a predicted value of a motion parameter corresponding to the 180-degree rotary joint, wherein the joint comprises: 180 degree revolute joints and non-180 degree revolute joints.
Specifically, the 180-degree rotary joint may be a joint without a sub-joint in the mechanical arm to be controlled, and the non-180-degree rotary joint is a joint with a corresponding sub-joint; the weights of the joints can be set according to the implementation requirements. The prophet algorithm may be applied to pre-train to arrive at the time series data prediction model.
Step 500: and obtaining the controllability of the 180-degree rotary joint according to the discrete degree between the motion parameter and the predicted value of the 180-degree rotary joint.
Specifically, if the same joint includes multiple types of motion parameters, such as task success rate and response time average value, the discrete degrees of the various motion parameters of the same joint can be weighted and summed, the weighted and summed result is used as the controllability of the joint, and the weights of the motion parameters can be set according to actual needs, namely, the controllability of the joint can be obtained through weighted and summed calculation. If the same joint contains a unique motion parameter, the controllability of the joint corresponding to the motion parameter is obtained according to the discrete degree of the motion parameter. For example, the degree of dispersion may be preset to be less than 5%, the degree of dispersion may be 100 minutes, the degree of dispersion may be in the range of 5% to 10%, the degree of dispersion may be 90 minutes, the degree of dispersion may be in the range of 10% to 15%, the degree of dispersion may be 80 minutes, the degree of dispersion may be in the range of 15% to 20%, the degree of dispersion may be 60 minutes, the degree of dispersion may be in the range of 20% to 25%, the degree of dispersion may be 50 minutes, the degree of dispersion may be in the range of 25% to 35%, the degree of dispersion may be 40 minutes, the degree of dispersion may be in the range of 35% to 50%, the degree of dispersion may be 30 minutes, and the other degrees of controllability may be 0 minutes.
Step 600: and carrying out weighted summation on the controllability of each sub-joint corresponding to the non-180-degree rotary joint to obtain the controllability of the non-180-degree rotary joint.
Step 700: and according to the controllability threshold and the controllability of each joint, deciding whether a conflict joint exists in the mechanical arm to be controlled so as to complete the operation control of the mechanical arm to be controlled.
Specifically, if there is a joint whose controllability is lower than the controllability threshold, the joint is regarded as a conflicting joint.
In order to improve the efficiency of the operation control on the basis of ensuring the reliability of the application operation control, after step 200, the method may further include:
step 301: if the conflict motion parameters exist in the motion parameter set, taking a joint corresponding to the conflict motion parameters as a conflict joint, and setting the controllability of the conflict joint to be 0; and taking the joints except the conflict joint as the joint to be controlled.
Step 401: and obtaining a predicted value of the motion parameter of the 180-degree rotary joint to be controlled by using the historical time sequence data prediction model.
Specifically, the 180-degree rotary joint to be controlled is a joint belonging to the joint to be controlled and the 180-degree rotary joint.
Step 501: and obtaining the controllability of the 180-degree rotary joint to be controlled according to the motion parameters of the 180-degree rotary joint to be controlled and the discrete degree between the predicted values of the motion parameters.
Step 601: and if the joint to be controlled is a non-180-degree rotary joint, carrying out weighted summation on the controllability of each sub-joint corresponding to the joint to be controlled to obtain the controllability of the joint to be controlled.
Step 701: if the joint to be controlled with the controllability smaller than the controllability threshold exists, the position information and the like of the joint to be controlled and the conflict joint are output and displayed, so that the root cause analysis can be conveniently operated next.
In order to further explain the scheme, the application example of the mechanical arm operation control method facing conflict handling is provided, and in the application example, the mechanical arm operation control method facing conflict handling includes:
step 1): and (5) selecting motion parameters. From the perspective of cloud computing, the mechanical control application is composed of a plurality of joints, motion parameters such as task success rate, response time average value and transaction amount can be obtained from statistics of each joint, and the controllability of each joint is decided according to the motion parameters. The motion parameter referred to in this application example may be a statistical value in dimensions of 1 minute.
Step 2): and judging the form of the motion parameters. The morphology of the motion parameters may include: the translational form, the rotational form and the stability form, and the motion parameters except the motion parameters of the three forms are not controlled or have lower control precision.
A single check and judgment method (statistical method) can be directly adopted to extract the motion parameters of the translation form from the motion parameters; after removing a small part of data, the motion parameters of the rotation form can be used for judging whether translation is performed by a single check judgment method; the kinetic parameters of the stable form vary periodically, such as by hour, day, week, month, and year.
Step 3): and controlling motion parameters. Calculating the discrete degree according to the average value after the data is standardized, namely calculating the average value of the motion parameters of the translation forms, and deciding the discrete degree between the motion parameters of each translation form and the average value; the motion parameters whose degree of dispersion meets the dynamic average threshold are marked as conflicts. And (3) the motion parameters of the rotary form are not standardized, a rank sum test algorithm and a binary calculation algorithm are applied to carry out integrated test on the motion parameters of the rotary form, and the motion parameters with test results larger than the assumed test significance level, namely the control result parameter threshold value, are marked as conflicts. After the motion parameters of the stability form are standardized, calculating stability values according to sliding windows, performing conflict control on the stability values based on a time sequence data conflict control algorithm (Seasonal Hybrid ESD, S-H-ESD for short), and marking the motion parameters corresponding to the control values of 1 as conflicts.
Step 4): and (5) evaluating joint controllability. Predicting the motion parameters of each joint by applying a time sequence data prediction algorithm propset, and calculating the discrete degree between each motion parameter of the joint and a corresponding predicted value, wherein the motion parameters are in one-to-one correspondence with the predicted values, and the greater the discrete degree is, the worse the controllability is; and (3) directly marking the joint corresponding to the motion parameter controlled to be in conflict in the step (3) as unhealthy, and marking the joint color as red.
Step 5): and (5) applying controllability evaluation. Based on the historical data of two months, the weight of each joint is fitted by using a polynomial weighted sum (the weight of each joint can be set according to the importance of the joint, the controllability of the joint is equal to the weighted sum of the controllability of each sub-joint corresponding to the joint, a controllability threshold value, preferably 80%, can be set, and if the controllability is lower than the controllability threshold value, the joint mark corresponding to the controllability is red to represent joint conflict.
In order to improve accuracy of application operation control and further improve safety of application operation in terms of software, the present application provides an embodiment of a collision-oriented arm operation control system for implementing all or part of the content in the collision-oriented arm operation control method, see fig. 5, where the collision-oriented arm operation control system specifically includes the following contents:
The collection module 10 is configured to collect a set of motion parameters of the mechanical arm to be controlled, where the set of motion parameters includes: and the motion parameters of all joints in the mechanical arm to be controlled.
The judging module 20 is configured to determine whether there is a conflicting motion parameter in the motion parameter set according to the motion parameter of each joint, the motion form of the motion parameter, and the historical control flow.
And the first operation control module 30 is configured to take a joint corresponding to the conflicting motion parameter as a conflicting joint if the conflicting motion parameter exists in the motion parameter set, so as to complete operation control of the mechanical arm to be controlled.
In an embodiment of the present application, the robot arm operation control system for conflict-oriented handling further includes:
the application module is used for applying the historical time sequence data prediction model to obtain a predicted value of a motion parameter corresponding to the 180-degree rotary joint, and the joint comprises: 180 degree revolute joints and non-180 degree revolute joints.
And the controllability decision module is used for obtaining the controllability of the 180-degree rotary joint according to the degree of dispersion between the motion parameter and the predicted value of the 180-degree rotary joint.
And the weighted summation module is used for weighted summation of the controllability of each sub-joint corresponding to the non-180-degree rotary joint to obtain the controllability of the non-180-degree rotary joint.
And the second operation control module is used for deciding whether collision joints exist in the mechanical arm to be controlled according to the controllability threshold and the controllability of each joint so as to complete the operation control of the mechanical arm to be controlled.
The embodiment of the conflict-handling robot operation control system provided in the present disclosure may be specifically used to execute the processing flow of the embodiment of the conflict-handling robot operation control method, and the functions thereof are not described herein, and may refer to the detailed description of the embodiment of the conflict-handling robot operation control method.
In one or more embodiments of the present application, the application execution control functions may be integrated into the central processor 9100. The central processor 9100 may be configured to perform the following control:
step 100: collecting a motion parameter set of a mechanical arm to be controlled, wherein the motion parameter set comprises: and the motion parameters of all joints in the mechanical arm to be controlled.
Step 200: and deciding whether conflict motion parameters exist in the motion parameter set according to the motion parameters of each joint, the motion forms of the motion parameters and the historical control flow.
Step 300: if the conflict motion parameters exist in the motion parameter set, taking a joint corresponding to the conflict motion parameters as a conflict joint to complete the operation control of the mechanical arm to be controlled.
From the above description, the electronic device provided by the embodiment of the present application can improve accuracy of application operation control, thereby improving safety of application operation.
In another embodiment, the conflict-handling robot operation control system may be configured separately from the central processor 9100, for example, the conflict-handling robot operation control system may be configured as a chip connected to the central processor 9100, and the application operation control function is implemented by control of the central processor.
The embodiments of the present application also provide a computer-readable storage medium capable of implementing all the steps in the collision-handling robot operation control method in the above embodiments, the computer-readable storage medium storing thereon a computer program that, when executed by a processor, implements all the steps in the collision-handling robot operation control method in the above embodiments, for example, the processor implements the following steps when executing the computer program:
step 100: collecting a motion parameter set of a mechanical arm to be controlled, wherein the motion parameter set comprises: and the motion parameters of all joints in the mechanical arm to be controlled.
Step 200: and deciding whether conflict motion parameters exist in the motion parameter set according to the motion parameters of each joint, the motion forms of the motion parameters and the historical control flow.
Step 300: if the conflict motion parameters exist in the motion parameter set, taking a joint corresponding to the conflict motion parameters as a conflict joint to complete the operation control of the mechanical arm to be controlled.
As can be seen from the above description, the computer readable storage medium provided in the embodiments of the present application can improve accuracy of application operation control, thereby improving security of application operation.
All embodiments of the method are described in a progressive manner, and identical and similar parts of all embodiments are mutually referred to, and each embodiment mainly describes differences from other embodiments. For relevance, see the description of the method embodiments.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. 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 a system for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The principles and embodiments of the present application are described herein with reference to specific examples, the description of which is only for the purpose of aiding in the understanding of the methods of the present application and the core ideas thereof; meanwhile, as those skilled in the art will have modifications in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.
Those skilled in the art will appreciate that various modifications and improvements can be made to the disclosure. For example, the various devices or components described above may be implemented in hardware, or may be implemented in software, firmware, or a combination of some or all of the three.
A flowchart is used in this disclosure to describe the steps of a method according to an embodiment of the present disclosure. It should be understood that the steps that follow or before do not have to be performed in exact order. Rather, the various steps may be processed in reverse order or simultaneously. Also, other operations may be added to these processes.
Those of ordinary skill in the art will appreciate that all or a portion of the steps of the methods described above may be implemented by a computer program to instruct related hardware, and the program may be stored in a computer readable storage medium, such as a read only memory, a magnetic disk, or an optical disk. Alternatively, all or part of the steps of the above embodiments may be implemented using one or more integrated circuits. Accordingly, each module/unit in the above embodiment may be implemented in the form of hardware, or may be implemented in the form of a software functional module. The present disclosure is not limited to any specific form of combination of hardware and software.
Unless defined otherwise, all terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The foregoing is illustrative of the present disclosure and is not to be construed as limiting thereof. Although a few exemplary embodiments of this disclosure have been described, those skilled in the art will readily appreciate that many modifications are possible in the exemplary embodiments without materially departing from the novel teachings and advantages of this disclosure. Accordingly, all such modifications are intended to be included within the scope of this disclosure as defined in the claims. It is to be understood that the foregoing is illustrative of the present disclosure and is not to be construed as limited to the specific embodiments disclosed, and that modifications to the disclosed embodiments, as well as other embodiments, are intended to be included within the scope of the appended claims. The disclosure is defined by the claims and their equivalents.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (4)
1. The mechanical arm operation control method for conflict-oriented handling is characterized by comprising the following steps of:
collecting a motion parameter set of a mechanical arm to be controlled, wherein the motion parameter set comprises: the motion parameters of all joints in the mechanical arm to be controlled;
deciding whether conflict motion parameters exist in the motion parameter set according to the motion parameters of each joint, the motion forms of the motion parameters and the historical control flow;
if the conflict motion parameters exist in the motion parameter set, taking a joint corresponding to the conflict motion parameters as a conflict joint to complete the operation control of the mechanical arm to be controlled;
the step of deciding whether the conflict motion parameters exist in the motion parameter set according to the motion parameters of each joint, the motion forms of the motion parameters and the historical control flow comprises the following steps:
if the first motion parameters in the translational form exist in the motion parameter set, carrying out standardization processing on the first motion parameters;
Deciding the discrete degree of each first motion parameter according to the average value of the normalized first motion parameters;
deciding whether collision motion parameters exist in the motion parameter set according to the dynamic average value threshold value and the discrete degree of each first motion parameter;
if the motion parameter set has a conflict motion parameter, taking a joint corresponding to the conflict motion parameter as a conflict joint to complete the operation control of the mechanical arm to be controlled, including:
if a first motion parameter with the discrete degree larger than the dynamic average value threshold exists, taking a joint corresponding to the first motion parameter as a conflict joint to complete the operation control of the mechanical arm to be controlled;
the step of deciding whether the conflict motion parameters exist in the motion parameter set according to the motion parameters of each joint, the motion forms of the motion parameters and the historical control flow comprises the following steps:
if the second motion parameters of the rotation form exist in the motion parameter set, a comparison experiment method and a binary calculation method are applied to control the second motion parameters;
deciding whether conflict motion parameters exist in the motion parameter set according to the control result parameter threshold and the control result parameters of each second motion parameter;
If the motion parameter set has a conflict motion parameter, taking a joint corresponding to the conflict motion parameter as a conflict joint to complete the operation control of the mechanical arm to be controlled, including:
if a second motion parameter with the control result parameter being larger than the control result parameter threshold exists, taking a joint corresponding to the second motion parameter as a conflict joint to complete the operation control of the mechanical arm to be controlled;
the step of deciding whether the conflict motion parameters exist in the motion parameter set according to the motion parameters of each joint, the motion forms of the motion parameters and the historical control flow comprises the following steps:
if the third motion parameter with the stable form exists in the motion parameter set, carrying out standardization processing on the third motion parameter;
a sliding window and a third motion parameter are applied to obtain a stability value;
performing conflict control by applying a time sequence data conflict control algorithm and a stability value;
deciding whether the conflict motion parameters exist in the motion parameter set according to the result of the conflict control;
if the motion parameter set has a conflict motion parameter, taking a joint corresponding to the conflict motion parameter as a conflict joint to complete the operation control of the mechanical arm to be controlled, including:
If the result of the conflict control is that the third motion parameter is 1, taking the joint corresponding to the third motion parameter as the conflict joint to complete the operation control of the mechanical arm to be controlled.
2. The method for controlling operation of a robot arm for conflict resolution according to claim 1, wherein, in the step of acquiring a set of motion parameters of the robot arm to be controlled, the set of motion parameters includes: after the motion parameters of each joint in the mechanical arm to be controlled, the method further comprises the following steps:
and applying a historical time sequence data prediction model to obtain a predicted value of a motion parameter corresponding to the 180-degree rotary joint, wherein the joint comprises: 180 degree revolute joints and non-180 degree revolute joints;
obtaining the controllability of the 180-degree rotary joint according to the discrete degree between the motion parameter and the predicted value of the 180-degree rotary joint;
weighting and summing the controllability of each sub-joint corresponding to the non-180-degree rotary joint to obtain the controllability of the non-180-degree rotary joint;
and according to the controllability threshold and the controllability of each joint, deciding whether a conflict joint exists in the mechanical arm to be controlled so as to complete the operation control of the mechanical arm to be controlled.
3. A collision handling oriented robotic arm operation control system, comprising:
The acquisition module is used for acquiring a motion parameter set of the mechanical arm to be controlled, and the motion parameter set comprises: the motion parameters of all joints in the mechanical arm to be controlled;
the judging module is used for judging whether conflict motion parameters exist in the motion parameter set according to the motion parameters of each joint, the motion forms of the motion parameters and the historical control flow;
the first operation control module is used for taking a joint corresponding to the conflict motion parameter as a conflict joint if the conflict motion parameter exists in the motion parameter set so as to complete operation control of the mechanical arm to be controlled;
the step of deciding whether the conflict motion parameters exist in the motion parameter set according to the motion parameters of each joint, the motion forms of the motion parameters and the historical control flow comprises the following steps:
if the first motion parameters in the translational form exist in the motion parameter set, carrying out standardization processing on the first motion parameters;
deciding the discrete degree of each first motion parameter according to the average value of the normalized first motion parameters;
deciding whether collision motion parameters exist in the motion parameter set according to the dynamic average value threshold value and the discrete degree of each first motion parameter;
If the motion parameter set has a conflict motion parameter, taking a joint corresponding to the conflict motion parameter as a conflict joint to complete the operation control of the mechanical arm to be controlled, including:
if a first motion parameter with the discrete degree larger than the dynamic average value threshold exists, taking a joint corresponding to the first motion parameter as a conflict joint to complete the operation control of the mechanical arm to be controlled;
the step of deciding whether the conflict motion parameters exist in the motion parameter set according to the motion parameters of each joint, the motion forms of the motion parameters and the historical control flow comprises the following steps:
if the second motion parameters of the rotation form exist in the motion parameter set, a comparison experiment method and a binary calculation method are applied to control the second motion parameters;
deciding whether conflict motion parameters exist in the motion parameter set according to the control result parameter threshold and the control result parameters of each second motion parameter;
if the motion parameter set has a conflict motion parameter, taking a joint corresponding to the conflict motion parameter as a conflict joint to complete the operation control of the mechanical arm to be controlled, including:
If a second motion parameter with the control result parameter being larger than the control result parameter threshold exists, taking a joint corresponding to the second motion parameter as a conflict joint to complete the operation control of the mechanical arm to be controlled;
the step of deciding whether the conflict motion parameters exist in the motion parameter set according to the motion parameters of each joint, the motion forms of the motion parameters and the historical control flow comprises the following steps:
if the third motion parameter with the stable form exists in the motion parameter set, carrying out standardization processing on the third motion parameter;
a sliding window and a third motion parameter are applied to obtain a stability value;
performing conflict control by applying a time sequence data conflict control algorithm and a stability value;
deciding whether the conflict motion parameters exist in the motion parameter set according to the result of the conflict control;
if the motion parameter set has a conflict motion parameter, taking a joint corresponding to the conflict motion parameter as a conflict joint to complete the operation control of the mechanical arm to be controlled, including:
if the result of the conflict control is that the third motion parameter is 1, taking the joint corresponding to the third motion parameter as the conflict joint to complete the operation control of the mechanical arm to be controlled.
4. The conflict resolution oriented robotic arm operation control system of claim 3, further comprising:
the application module is used for applying the historical time sequence data prediction model to obtain a predicted value of a motion parameter corresponding to the 180-degree rotary joint, and the joint comprises: 180 degree revolute joints and non-180 degree revolute joints;
the controllability decision module is used for obtaining the controllability of the 180-degree rotary joint according to the discrete degree between the motion parameter and the predicted value of the 180-degree rotary joint;
the weighted summation module is used for weighted summation of the controllability of each sub-joint corresponding to the non-180-degree rotary joint to obtain the controllability of the non-180-degree rotary joint;
and the second operation control module is used for deciding whether collision joints exist in the mechanical arm to be controlled according to the controllability threshold and the controllability of each joint so as to complete the operation control of the mechanical arm to be controlled.
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