CN117428764A - Force feedback compensation method and device for multi-gear assembly and robot - Google Patents
Force feedback compensation method and device for multi-gear assembly and robot Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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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
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Abstract
The application relates to a force feedback compensation method and device of a multi-gear assembly and a robot, wherein the method comprises the following steps: acquiring a first moment difference value between a theoretical joint moment and an actual joint moment corresponding to a first joint angle of each joint on the hand; judging whether each joint corresponding to the slave hand needs to perform coupling torque calculation or not according to a comparison result of the first torque difference value and the first threshold value; if yes, acquiring torque fluctuation parameters of gears corresponding to all joints based on a first joint angle of all joints on the hand, determining theoretical coupling torque of all joints according to the torque fluctuation parameters, and acquiring a second torque difference value between the theoretical coupling torque of all joints and actual joint torque; and when the second moment difference value is smaller than a second threshold value, adjusting force compensation signals of all joints of the master hand corresponding to the slave hand according to the second moment difference value. By adopting the method, the force feedback compensation of the multi-joint information input single-joint torque feedback output can be realized, and the force feedback compensation precision corresponding to each joint gear is improved.
Description
Technical Field
The application relates to the technical field of industrial control, in particular to a force feedback compensation method and device for a multi-gear assembly and a robot.
Background
At present, the position control system of the industrial robot basically obtains joint torque information by converting an obtained sensor torque signal or a motor current signal through a certain transmission ratio, and inputs the joint torque information into the control system of the robot to control the torque of each joint.
In the multi-gear driving joint structure, due to factors such as movement direction, stress direction and the like, the gears can generate an interactive torque deviation value, so that the obtained joint torque value is a time-varying value, and the actual torque of the joint cannot be reflected based on simple sensor or motor current signal feedback. The existing decoupling algorithm cannot perform multi-gear torque calculation based on state input and single-gear torque output of each gear, and a common regression model only considers single input-output correspondence between the motor and joint torque, and cannot perform multi-input single-output torque calculation.
Disclosure of Invention
Accordingly, in view of the above-mentioned problems, it is necessary to provide a method and apparatus for force feedback compensation of a multi-gear assembly, and a robot capable of achieving torque feedback output between multiple inputs and a single-joint gear under a multi-gear coupling condition, and improving force feedback accuracy.
In a first aspect, the present application provides a method of force feedback compensation for a multi-tooth wheel assembly, the method comprising:
acquiring a first moment difference value between a theoretical joint moment and an actual joint moment corresponding to a first joint angle of each joint on the hand;
judging whether the corresponding joints on the slave hand need to perform coupling torque calculation or not according to the comparison result of the first torque difference value and the first threshold value;
if yes, acquiring torque fluctuation parameters of gears corresponding to all joints based on the first joint angles of all joints on the hand, determining theoretical coupling torque of all joints according to the torque fluctuation parameters, and acquiring a second torque difference value between the theoretical coupling torque of all joints and the actual joint torque;
and when the second moment difference value is smaller than a second threshold value, adjusting force compensation signals of all joints of the master hand corresponding to the slave hand according to the second moment difference value, wherein all joints of the master hand are in one-to-one linkage with all joints of the slave hand. .
In one embodiment, the torque ripple parameter includes radial force, speed and acceleration of each gear, and determining the theoretical coupling torque of each joint according to the torque ripple parameter includes:
generating a torque influence coefficient of each gear based on the radial acting force, the speed and the acceleration of the corresponding gear in each joint by using a regression function;
and determining the friction force suffered by each gear based on each moment influence coefficient, and adding the friction moment corresponding to the friction force to the theoretical joint moment of the corresponding joint to determine the theoretical coupling torque of the joint.
In one embodiment, the determining the friction force to which each of the gears is subjected based on each of the torque influence coefficients includes:
according to the moment influence coefficient K ni Determining the friction force Sigma F of each gear n to the adjacent gears n-1, n+1 tni ，∑F tni ＝K ni+1 F ni+1 +K ni-1 F ni-1 Wherein i is {1,2,3}, i is a label of radial acting force, speed and acceleration in the torque fluctuation parameter, and n represents gears corresponding to different joints.
In one embodiment, the determining whether the coupling torque calculation is required for each joint corresponding to the slave hand according to the comparison result between each first torque difference value and the first threshold value includes:
if the first moment difference value is larger than or equal to the first threshold value, coupling torque calculation is carried out on the corresponding joint on the slave hand;
if the first moment difference is smaller than the first threshold value, judging whether the first moment difference is smaller than the second threshold value.
In one embodiment, if the first moment difference is smaller than the first threshold and the first moment difference is smaller than the second threshold, adjusting the force compensation signals of the joints of the master hand corresponding to the slave hand according to the first moment difference;
and if the first moment difference value is smaller than the first threshold value and the first moment difference value is larger than or equal to the second threshold value, outputting a compensation angle corresponding to the first moment difference value to the corresponding joint of the slave hand, and obtaining a second joint angle of the corresponding joint.
In one embodiment, after the obtaining the second torque difference between the theoretical coupling torque and the actual joint torque of each joint, the method further includes:
judging whether the corresponding joints on the slave hand need to be subjected to difference matching according to the comparison result of the second moment difference value and the first threshold value;
if the second moment difference value is greater than or equal to the first threshold value, inputting the theoretical coupling torque into a complete preset matching model for difference correction matching, outputting the theoretical coupling torque after difference correction, and determining a third moment difference value between the theoretical coupling torque after difference correction and the actual joint moment; when the third moment difference value is smaller than the second threshold value, adjusting force compensation signals of all joints of the master hand corresponding to the slave hand according to the third moment difference value;
if the second moment difference value is smaller than the first threshold value, when the second moment difference value is smaller than the second threshold value, adjusting force compensation signals of all joints of the master hand corresponding to the slave hand according to the second moment difference value; and when the second moment difference value is larger than or equal to the second threshold value, outputting a compensation angle corresponding to the second moment difference value to the corresponding joint of the slave hand, and obtaining a third joint angle of the corresponding joint.
In one embodiment, the obtaining a first moment difference between the theoretical joint moment and the actual joint moment corresponding to the first joint angle of each joint on the hand includes:
calculating to obtain the theoretical joint moment of each joint of the slave hand based on the obtained position change matrix between each joint of the slave hand, each joint coordinate system and each joint stress set;
calculating the actual joint moment of each joint of the slave hand based on the acquired actual moment of the motor corresponding to each joint of the slave hand and the transmission ratio between each motor and each joint;
and taking the difference between the theoretical joint moment and the actual joint moment to obtain the first moment difference value.
In one embodiment, before the obtaining the first moment difference between the theoretical joint moment and the actual joint moment corresponding to the first joint angle of each joint on the hand, the method further includes:
and determining a first joint angle of each joint of the slave hand according to the input of the initial joint angle of each joint of the slave hand, the actual rotation angle of the motor generated by the motor corresponding to each joint, the motor compensation rotation angle of the last adjacent joint of each joint pair and the coupling relation between the adjacent joints, wherein the initial joint angle is generated by each joint of the master hand based on the input force signal.
In a second aspect, the present application also provides a force feedback compensation device for a multi-gear assembly, the device comprising:
the difference value determining module is used for obtaining a first moment difference value between a theoretical joint moment and an actual joint moment corresponding to a first joint angle of each joint on the hand;
the coupling judgment module is used for judging whether the joints corresponding to the slave hands need to carry out coupling torque calculation or not according to the comparison result of the first torque difference value and the first threshold value;
if yes, acquiring torque fluctuation parameters of gears corresponding to all joints based on the first joint angles of all joints on the slave hand, determining theoretical coupling torque of all the joints according to the torque fluctuation parameters, and acquiring a second torque difference value between the theoretical coupling torque of all the joints and the actual joint torque;
and the feedback compensation module is used for adjusting force compensation signals of all joints of the master hand corresponding to the slave hand according to the second moment difference value when the second moment difference value is smaller than a second threshold value, and all joints of the master hand are in one-to-one linkage with all joints of the slave hand.
In a third aspect, the present application also provides a robot comprising a memory storing a computer program and a processor implementing the above-mentioned first aspect when executing the computer program.
According to the force feedback compensation method and device of the multi-gear assembly and the robot, the first moment difference value between the theoretical joint moment and the actual joint moment corresponding to the first joint angle of each joint on the hand is obtained; judging whether the corresponding joints on the slave hand need to perform coupling torque calculation or not according to the comparison result of the first torque difference value and the first threshold value; if yes, acquiring torque fluctuation parameters of gears corresponding to all joints based on the first joint angles of all joints on the hand, determining theoretical coupling torque of all joints according to the torque fluctuation parameters, and acquiring a second torque difference value between the theoretical coupling torque of all joints and the actual joint torque; when the second moment difference value is smaller than a second threshold value, force compensation signals of all joints of the master hand corresponding to the slave hand are adjusted according to the second moment difference value, so that force feedback compensation of multi-joint information input single-joint torque feedback output is realized, force feedback compensation precision corresponding to all joint gears is improved, and meanwhile calculation cost is reduced.
Drawings
FIG. 1 is a block diagram of a coupling structure between a slave hand joint and a corresponding motor in one embodiment;
FIG. 2 is a flow chart of a method of force feedback compensation of a multi-gear assembly in one embodiment;
FIG. 3 is a flow chart of the theoretical coupling torque obtained in S202 in one embodiment;
FIG. 4 is a flowchart of determining whether to perform coupling torque calculation in S202 according to an embodiment;
FIG. 5 is a flow chart of a method of force feedback compensation of a multi-gear assembly in an example embodiment;
FIG. 6 is a block diagram of a force feedback compensation device of a multi-gear assembly in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs. Reference to "a," "an," "the," and similar terms herein do not denote a limitation of quantity, but rather denote the singular or plural. The terms "comprising," "including," "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to only those steps or elements but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. The terms "connected," "coupled," and the like in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The term "plurality" as used herein refers to two or more. "and/or" describes an association relationship of an association object, meaning that there may be three relationships, e.g., "a and/or B" may mean: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship. The terms "first," "second," "third," and the like, as used herein, are merely distinguishing between similar objects and not representing a particular ordering of objects.
In one embodiment, a robot is provided, the robot comprises a master-slave follow-up system formed by a multi-gear assembly, the master-slave follow-up system formed by the multi-gear assembly comprises a master hand and a slave hand, each of the master hand and the slave hand comprises a plurality of joints, each joint of the slave hand is provided with a motor for controlling rotation of gears on each joint, the transmission ratio between each joint of the slave hand and the motor is preset, and each joint of the master hand corresponds to each rotation direction of each joint of the slave hand one by one. As shown in fig. 1, a coupling structure of the robot from each joint on the hand to the corresponding motor is provided, and the motors 1 to 7 are respectively configured from the joint 1 to the joint 7 on the hand to control the rotation of gears on each joint. The robot further comprises a memory in which a computer program is stored, and a processor which, when executing the computer program, implements a force feedback compensation method of the multi-gear assembly.
In one embodiment, as shown in FIG. 2, a method of force feedback compensation of a multi-tooth wheel assembly is provided, comprising the steps of:
s201, obtaining a first moment difference value between a theoretical joint moment and an actual joint moment corresponding to a first joint angle of each joint on the hand.
When the joints on the main hand generate joint angles due to force input, the joints corresponding to the hands are controlled by the motors to generate joint angle changes. However, due to the transmission ratio between the motor and each joint of the slave hand, under the loaded working condition, a first moment difference exists between the theoretical joint moment and the actual joint moment corresponding to the first joint angle of each joint of the slave hand.
S202, judging whether the joints corresponding to the slave hands need to perform coupling torque calculation or not according to the comparison result of the first torque difference value and the first threshold value; if so, acquiring torque fluctuation parameters of gears corresponding to all joints based on the first joint angles of all joints on the hand, determining theoretical coupling torque of all joints according to the torque fluctuation parameters, and acquiring a second torque difference value between the theoretical coupling torque of all joints and the actual joint torque.
The first threshold is a preset difference value threshold between the theoretical joint moment and the actual joint moment of each joint on the slave hand. When the first moment difference value is larger than or equal to the first threshold value, the slave hand joint corresponding to the first moment difference value needs to perform coupling torque calculation; when the first moment difference is smaller than the first threshold, the slave hand joint corresponding to the first moment difference does not need to perform coupling torque calculation.
Specifically, the coupling torque calculation is performed on each slave joint through the comparison result of the first torque difference value and the first threshold value, the theoretical joint torque of the joint is updated to be the theoretical coupling torque, and then the second torque difference value between the theoretical coupling torque of each slave joint and the actual joint torque is obtained.
And S203, when the second moment difference value is smaller than a second threshold value, adjusting force compensation signals of all joints of the master hand corresponding to the slave hand according to the second moment difference value, wherein all joints of the master hand are in one-to-one linkage with all joints of the slave hand.
The second threshold is a set feedback difference threshold of each joint of the slave hand. And when the second moment difference value is smaller than the second threshold value, adjusting a force compensation signal fed back to a corresponding joint of the main hand according to the second moment difference value, so as to realize the feedback output of the torque of the single-joint gear.
In the force feedback compensation method of the multi-gear assembly, a first moment difference value between a theoretical joint moment and an actual joint moment corresponding to a first joint angle of each joint on a hand is obtained; judging whether the corresponding joints on the slave hand need to perform coupling torque calculation or not according to the comparison result of the first torque difference value and the first threshold value; if yes, acquiring torque fluctuation parameters of gears corresponding to all joints based on the first joint angles of all joints on the hand, determining theoretical coupling torque of all joints according to the torque fluctuation parameters, and acquiring a second torque difference value between the theoretical coupling torque of all joints and the actual joint torque; when the second moment difference value is smaller than a second threshold value, force compensation signals of all joints of the master hand corresponding to the slave hand are adjusted according to the second moment difference value, so that force feedback compensation of multi-phase input and single-joint gear torque feedback output is realized, the force feedback compensation precision of all joints corresponding to gears is improved, and meanwhile, the calculation cost is reduced.
In one embodiment, the torque ripple parameter includes radial force, speed and acceleration of each gear, and as shown in fig. 3, determining the theoretical coupling torque of each joint according to the torque ripple parameter in S202 specifically includes the following steps:
s301, generating moment influence coefficients of the gears based on the radial acting force, the speed and the acceleration of the corresponding gears in the joints by using regression functions.
S302, based on the moment influence coefficients, determining friction force born by the gears, and adding friction moment corresponding to the friction force to the theoretical joint moment of the corresponding joint to determine the theoretical coupling torque of the joint.
Specifically, according to the moment influence coefficient K ni Determining the friction force Sigma F of each gear n to the adjacent gears n-1, n+1 tni ，
∑F tni ＝K ni+1 F ni+1 +K ni-1 F ni-1 ，
Wherein i is the label of radial acting force, speed and acceleration in the torque fluctuation parameter, and n represents gears corresponding to different joints.
In this embodiment, based on gear information of a plurality of joints such as radial acting force, speed and acceleration received from gears of each joint on the hand, torque influence coefficients of each joint gear are determined, friction torque received by each joint gear is determined by using the torque influence coefficients, and the friction torque is superimposed on theoretical joint torque of a corresponding joint to obtain theoretical coupling torque of each joint, thereby realizing coupling torque calculation from each joint of the hand.
In one embodiment, as shown in fig. 4, in S202, according to the comparison result between each first torque difference value and the first threshold value, it is determined whether each joint corresponding to the slave hand needs to perform coupling torque calculation, and the method specifically includes the following steps:
s401, if the first moment difference value is greater than or equal to the first threshold value, coupling torque calculation is performed on the corresponding joint on the slave hand.
S402, if the first moment difference is smaller than the first threshold, judging whether the first moment difference is smaller than the second threshold.
And if the first moment difference value is smaller than the first threshold value and the first moment difference value is smaller than the second threshold value, adjusting the force compensation signals of all joints of the master hand corresponding to the slave hand according to the first moment difference value. And if the first moment difference value is smaller than the first threshold value and the first moment difference value is larger than or equal to the second threshold value, outputting a compensation angle corresponding to the first moment difference value to the corresponding joint of the slave hand, and obtaining a second joint angle of the corresponding joint.
In this embodiment, when the first torque difference is greater than or equal to the first threshold, the coupling torque calculation is performed on the corresponding joint of the slave hand, when the first torque difference is less than the first threshold, the coupling torque calculation is not required, by setting the second threshold, according to the comparison result of the first torque difference and the second threshold, it is determined whether to feed back the force compensation signal to the master hand joint corresponding to the slave hand joint,
in one embodiment, after obtaining the second torque difference between the theoretical coupling torque and the actual joint torque of each joint in S202, the method further includes the steps of:
s501, judging whether the joints corresponding to the slave hands need to be subjected to difference matching or not according to the comparison result of the second moment difference value and the first threshold value.
S502, if the second moment difference value is greater than or equal to the first threshold value, inputting the theoretical coupling torque into a fully trained preset matching model for difference correction matching, outputting the theoretical coupling torque after difference correction, and determining a third moment difference value between the theoretical coupling torque after difference correction and the actual joint moment; and when the third moment difference value is smaller than the second threshold value, adjusting force compensation signals of all joints of the master hand corresponding to the slave hand according to the third moment difference value.
The trained and complete preset matching model can carry out difference correction matching with the actual joint moment of the joint corresponding to the theoretical coupling torque based on the input theoretical coupling torque, and reduces a third moment difference between the theoretical coupling torque and the actual joint moment after the difference correction. It should be noted that the third moment difference value obtained through the preset matching model is smaller than the first threshold value, so that only the magnitude relation between the third moment difference value and the second threshold value needs to be judged.
Optionally, when the third moment difference is smaller than the first threshold and the third moment difference is smaller than the second threshold, adjusting the force compensation signal of each joint of the master hand corresponding to the slave hand according to the third moment difference. And when the third moment difference value is smaller than the first threshold value and the third moment difference value is larger than or equal to the second threshold value, outputting a compensation angle corresponding to the third moment difference value to the corresponding joint of the slave hand.
S503, if the second moment difference value is smaller than the first threshold value, adjusting force compensation signals of all joints of the master hand corresponding to the slave hand according to the second moment difference value when the second moment difference value is smaller than the second threshold value; and when the second moment difference value is larger than or equal to the second threshold value, outputting a compensation angle corresponding to the second moment difference value to the corresponding joint of the slave hand, and obtaining a third joint angle of the corresponding joint.
In this embodiment, under the condition that the second moment difference value obtained by using the theoretical coupling torque is still greater than or equal to the first threshold value, the speed of obtaining the moment difference value is increased by introducing a preset matching model, the calculation cost is reduced, and the efficiency of feedback compensation of the force of each joint is further improved.
In one embodiment, S201 obtains a first moment difference between a theoretical joint moment and an actual joint moment corresponding to a first joint angle of each joint on the hand, and specifically includes the following steps:
s601, calculating and obtaining the theoretical joint moment of each joint of the slave hand based on the obtained position change matrix between each joint of the slave hand, each joint coordinate system and each joint stress set.
And determining joint coordinate system parameters of the joints of the slave hand, spatial position parameters and force value parameters of the mass centers of the joints in the joint coordinate system based on the position change matrix between the joints of the slave hand, the joint coordinate system and the joint stress set, and calculating to obtain theoretical joint moment of the joints of the slave hand.
S602, calculating the actual joint moment of each joint of the slave hand based on the acquired actual moment of the motor corresponding to each joint of the slave hand and the transmission ratio between each motor and each joint.
And S603, performing difference on the theoretical joint moment and the actual joint moment to obtain the first moment difference value.
In this embodiment, the first moment difference between the theoretical joint moment and the actual joint moment of each slave hand joint is obtained by calculating the two.
In one embodiment, before S201 obtains the first moment difference between the theoretical joint moment and the actual joint moment corresponding to the first joint angle of each joint on the hand, the method further includes:
and determining a first joint angle of each joint of the slave hand according to the input of the initial joint angle of each joint of the slave hand, the actual rotation angle of the motor generated by the motor corresponding to each joint, the motor compensation rotation angle of the last adjacent joint of each joint pair and the coupling relation between the adjacent joints, wherein the initial joint angle is generated by each joint of the master hand based on the input force signal.
The coupling relation between adjacent joints comprises a driven coupling relation and a transmission coupling relation, the self-driving rotation directions of the two corresponding motors with the driven coupling relation are opposite, and the self-driving rotation directions of the two corresponding motors with the transmission coupling relation are the same. The coupling relationship between adjacent joints thus affects the steering of the motor compensation angle of each joint to the last adjacent joint.
Specifically, each joint of the master hand generates an initial joint angle based on an input force signal, and the corresponding initial joint angle is acquired from each joint of the master hand according to the linkage relation between each joint of the master hand and each joint of the slave hand. Since the slave joints of the hand are controlled by the motor, a first joint angle output from each joint of the hand is determined according to the actual motor rotation angle of the motor and the motor compensation rotation angle.
In an exemplary embodiment, a force feedback compensation method of a multi-gear assembly is provided, which is applied to a coupling structure between a slave hand joint and a corresponding motor as shown in fig. 1, wherein n represents each joint of the slave hand, and n e {1,2,3,4,5,6,7}, and a flow chart is shown in fig. 5, and specifically includes the following steps:
s1, outputting an initial joint angle theta of each joint of the main hand according to the force signal input of each joint of the main hand n 。
S2, based on the initial joint angle theta input from each joint of the hand n Acquiring the actual rotation angle rθ of the motor corresponding to each joint n of the hand n And motor compensation rotation angle Rθ n Outputs a first joint angle theta of each slave hand joint n n ’。
S3, calculating the theoretical joint moment of each joint n of the slave hand based on the obtained position change matrix R between each joint n of the slave hand, each joint coordinate system P (X, Y) and each joint stress set F.
And S4, calculating the actual joint moment of each joint n of the slave hand based on the acquired actual moment of the motor corresponding to each joint n of the slave hand and the transmission ratio between each motor and each joint.
S5, the theoretical joint moment and the actual joint moment are differenced to obtain a first moment difference e 1 。
If the first moment is different e 1 And if the coupling torque is larger than or equal to a first threshold E1, performing S6 coupling torque calculation on the corresponding joint on the slave hand.
If the first moment is different e 1 If the first torque difference is smaller than the first threshold E1, whether the first torque difference is smaller than the second threshold E2 is judged. Wherein, if the first moment difference e 1 Less than a first threshold E1 and a first torque difference E 1 Less than the second threshold E2, according to the first moment difference E 1 And adjusting the force compensation signals of the joints of the master hand corresponding to the slave hand. If the first moment is different e 1 Less than a first threshold E1 and a first torque difference E 1 And if the first moment difference value is larger than or equal to a second threshold E2, outputting a compensation angle corresponding to the first moment difference value to a corresponding joint of the hand, and obtaining a second joint angle of the corresponding joint.
S6, based on slave handRadial forces F exerted on corresponding gears in each joint n Velocity V θn And acceleration V' θn Generating a moment influence coefficient K of each gear n by using a regression function ni According to the moment influence coefficient K ni Determining friction force Sigma F of each gear n to adjacent gear n-1 and adjacent gear n+1 tni ，
∑F tni ＝K ni+1 F ni+1 +K ni-1 F ni-1 ，
Wherein i is the label of radial acting force, speed and acceleration in the torque fluctuation parameter {1,2,3}, and n represents gears of different joints.
Friction force Sigma F from each joint of hand tni The corresponding friction moment is added to the corresponding theoretical joint moment, so that the theoretical coupling torque of each joint of the hand is obtained. And calculating a second moment difference e2 between the theoretical coupling torque of each joint of the hand and the actual joint moment.
And S7, judging whether the corresponding joints on the hands need to be subjected to difference matching according to the comparison result of the second moment difference E2 and the first threshold E1.
If the second moment difference E2 is greater than or equal to the first threshold E1, inputting the theoretical coupling torque into a preset matching model with complete training for difference correction matching, outputting the theoretical coupling torque after difference correction, determining a third moment difference E3 between the theoretical coupling torque after difference correction and the actual joint moment, and adjusting a force compensation signal of the main hand joint corresponding to the slave hand joint according to the third moment difference E3 when the third moment difference E3 is smaller than the second threshold E2.
If the second moment difference E2 is smaller than the first threshold E1, when the second moment difference E2 is smaller than the second threshold E2, adjusting force compensation signals of all joints of the master hand corresponding to the slave hand according to the second moment difference E2; when the second moment difference E2 is greater than or equal to the second threshold E2, outputting a compensation angle corresponding to the second moment difference E2 to a corresponding joint of the hand, and obtaining a third joint angle of the corresponding joint.
It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.
Based on the same inventive concept, the embodiments of the present application also provide a force feedback compensation device of a multi-gear assembly for implementing the force feedback compensation method of a multi-gear assembly as referred to above. The implementation of the solution provided by the device is similar to that described in the above method, so the specific limitations in the embodiments of the force feedback compensation device for one or more multi-gear assemblies provided below can be referred to above for the limitations of the force feedback compensation method for a multi-gear assembly, and will not be repeated here.
In one embodiment, as shown in fig. 6, there is provided a force feedback compensation device of a multi-gear assembly, comprising: a difference determining module 61, a coupling judging module 62 and a feedback compensating module 63, wherein:
the difference determining module 61 is configured to obtain a first moment difference between a theoretical joint moment and an actual joint moment corresponding to a first joint angle of each joint on the hand.
The coupling judging module 62 is configured to judge whether coupling torque calculation is required for each joint corresponding to the slave hand according to a comparison result between each first torque difference value and a first threshold value; if so, acquiring torque fluctuation parameters of gears corresponding to all joints based on the first joint angles of all joints on the hand, determining theoretical coupling torque of all the joints according to the torque fluctuation parameters, and acquiring a second moment difference value between the theoretical coupling torque of all the joints and the actual joint moment.
And the feedback compensation module 63 is configured to adjust a force compensation signal of each joint of the master hand corresponding to the slave hand according to the second moment difference value when the second moment difference value is smaller than a second threshold value, where each joint of the master hand is in one-to-one linkage with each joint of the slave hand.
In one embodiment, the coupling determination module 62 is further configured to include: generating a torque influence coefficient of each gear based on the radial acting force, the speed and the acceleration of the corresponding gear in each joint by using a regression function; and determining the friction force suffered by each gear based on each moment influence coefficient, and adding the friction moment corresponding to the friction force to the theoretical joint moment of the corresponding joint to determine the theoretical coupling torque of the joint.
In one embodiment, the coupling determination module 62 is further configured to: according to the moment influence coefficient K ni Determining the friction force Sigma F of each gear n to the adjacent gears n-1, n+1 tni ，∑F tni ＝K ni+1 F ni+1 +K ni-1 F ni-1 Wherein i is {1,2,3}, i is a label of radial acting force, speed and acceleration in the torque fluctuation parameter, and n represents gears corresponding to different joints.
In one embodiment, the coupling determination module 62 is further configured to: if the first moment difference value is larger than or equal to the first threshold value, coupling torque calculation is carried out on the corresponding joint on the slave hand; if the first moment difference is smaller than the first threshold value, judging whether the first moment difference is smaller than the second threshold value.
In one embodiment, the coupling determination module 62 is further configured to: if the first moment difference value is smaller than the first threshold value and the first moment difference value is smaller than the second threshold value, adjusting the force compensation signals of all joints of the master hand corresponding to the slave hand according to the first moment difference value; and if the first moment difference value is smaller than the first threshold value and the first moment difference value is larger than or equal to the second threshold value, outputting a compensation angle corresponding to the first moment difference value to the corresponding joint of the slave hand, and obtaining a second joint angle of the corresponding joint.
In one embodiment, the coupling determination module 62 is further configured to: judging whether the corresponding joints on the slave hand need to be subjected to difference matching according to the comparison result of the second moment difference value and the first threshold value; if the second moment difference value is greater than or equal to the first threshold value, inputting the theoretical coupling torque into a complete preset matching model for difference correction matching, outputting the theoretical coupling torque after difference correction, and determining a third moment difference value between the theoretical coupling torque after difference correction and the actual joint moment; when the third moment difference value is smaller than the second threshold value, adjusting force compensation signals of all joints of the master hand corresponding to the slave hand according to the third moment difference value; if the second moment difference value is smaller than the first threshold value, when the second moment difference value is smaller than the second threshold value, adjusting force compensation signals of all joints of the master hand corresponding to the slave hand according to the second moment difference value; and when the second moment difference value is larger than or equal to the second threshold value, outputting a compensation angle corresponding to the second moment difference value to the corresponding joint of the slave hand, and obtaining a second joint angle of the corresponding joint.
In one embodiment, the difference determining module 61 is further configured to: calculating to obtain the theoretical joint moment of each joint of the slave hand based on the obtained position change matrix between each joint of the slave hand, each joint coordinate system and each joint stress set; calculating the actual joint moment of each joint of the slave hand based on the acquired actual moment of the motor corresponding to each joint of the slave hand and the transmission ratio between each motor and each joint; and taking the difference between the theoretical joint moment and the actual joint moment to obtain the first moment difference value.
In one embodiment, the difference determining module 61 is further configured to: and determining a first joint angle of each joint of the slave hand according to the input of the initial joint angle of each joint of the slave hand, the actual rotation angle of the motor generated by the motor corresponding to each joint, the motor compensation rotation angle of the last adjacent joint of each joint pair and the coupling relation between the adjacent joints, wherein the initial joint angle is generated by each joint of the master hand based on the input force signal.
The various modules in the force feedback compensation appliance of the multi-gear assembly described above may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the various embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magnetic random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (Phase Change Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like. The databases referred to in the various embodiments provided herein may include at least one of relational databases and non-relational databases. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic units, quantum computing-based data processing logic units, etc., without being limited thereto.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application shall be subject to the appended claims.
Claims (10)
1. A method of force feedback compensation for a multi-tooth wheel assembly, the method comprising:
acquiring a first moment difference value between a theoretical joint moment and an actual joint moment corresponding to a first joint angle of each joint on the hand;
judging whether the corresponding joints on the slave hand need to perform coupling torque calculation or not according to the comparison result of the first torque difference value and the first threshold value;
if yes, acquiring torque fluctuation parameters of gears corresponding to all joints based on the first joint angles of all joints on the hand, determining theoretical coupling torque of all joints according to the torque fluctuation parameters, and acquiring a second torque difference value between the theoretical coupling torque of all joints and the actual joint torque;
and when the second moment difference value is smaller than a second threshold value, adjusting force compensation signals of all joints of the master hand corresponding to the slave hand according to the second moment difference value, wherein all joints of the master hand are in one-to-one linkage with all joints of the slave hand.
2. The method of claim 1, wherein the torque ripple parameter comprises a radial force, a speed, and an acceleration of each gear, and wherein determining the theoretical coupling torque of each joint based on the torque ripple parameter comprises:
generating a torque influence coefficient of each gear based on the radial acting force, the speed and the acceleration of the corresponding gear in each joint by using a regression function;
and determining the friction force suffered by each gear based on each moment influence coefficient, and adding the friction moment corresponding to the friction force to the theoretical joint moment of the corresponding joint to determine the theoretical coupling torque of the joint.
3. The method of force feedback compensation of a multi-gear assembly of claim 2, wherein said determining friction experienced by each of said gears based on each of said torque influencing coefficients comprises:
according to the moment influence coefficient K ni Determining the friction force Sigma F of each gear n to the adjacent gears n-1, n+1 tni ，∑F tni ＝ ni+1 F ni+1 + ni-1 F ni-1 Wherein i is {1,2,3}, i is a label of radial acting force, speed and acceleration in the torque fluctuation parameter, and n represents gears corresponding to different joints.
4. The method of claim 1, wherein determining whether coupling torque calculation is required for each of the joints of the slave hand according to the comparison result between each of the first torque differences and the first threshold value comprises:
if the first moment difference value is larger than or equal to the first threshold value, coupling torque calculation is carried out on the corresponding joint on the slave hand;
if the first moment difference is smaller than the first threshold value, judging whether the first moment difference is smaller than the second threshold value.
5. The method of claim 4, wherein if the first torque difference is less than the first threshold and the first torque difference is less than the second threshold, adjusting the force compensation signal of each joint of the master hand corresponding to the slave hand according to the first torque difference;
and if the first moment difference value is smaller than the first threshold value and the first moment difference value is larger than or equal to the second threshold value, outputting a compensation angle corresponding to the first moment difference value to the corresponding joint of the slave hand, and obtaining a second joint angle of the corresponding joint.
6. The method of force feedback compensation of a multi-gear assembly of claim 1, wherein after said obtaining a second torque difference between said theoretical coupling torque and said actual joint torque for each joint, said method further comprises:
judging whether the corresponding joints on the slave hand need to be subjected to difference matching according to the comparison result of the second moment difference value and the first threshold value;
if the second moment difference value is greater than or equal to the first threshold value, inputting the theoretical coupling torque into a complete preset matching model for difference correction matching, outputting the theoretical coupling torque after difference correction, and determining a third moment difference value between the theoretical coupling torque after difference correction and the actual joint moment; when the third moment difference value is smaller than the second threshold value, adjusting force compensation signals of all joints of the master hand corresponding to the slave hand according to the third moment difference value;
if the second moment difference value is smaller than the first threshold value, when the second moment difference value is smaller than the second threshold value, adjusting force compensation signals of all joints of the master hand corresponding to the slave hand according to the second moment difference value; and when the second moment difference value is larger than or equal to the second threshold value, outputting a compensation angle corresponding to the second moment difference value to the corresponding joint of the slave hand, and obtaining a third joint angle of the corresponding joint.
7. The method of claim 1, wherein the obtaining a first moment difference between a theoretical joint moment and an actual joint moment corresponding to a first joint angle of each joint of the hand comprises:
calculating to obtain the theoretical joint moment of each joint of the slave hand based on the obtained position change matrix between each joint of the slave hand, each joint coordinate system and each joint stress set;
calculating the actual joint moment of each joint of the slave hand based on the acquired actual moment of the motor corresponding to each joint of the slave hand and the transmission ratio between each motor and each joint;
and taking the difference between the theoretical joint moment and the actual joint moment to obtain the first moment difference value.
8. The method of claim 1, wherein prior to obtaining a first torque difference between a theoretical joint torque and an actual joint torque corresponding to a first joint angle of each joint on the hand, the method further comprises:
and determining a first joint angle of each joint of the slave hand according to the input of the initial joint angle of each joint of the slave hand, the actual rotation angle of the motor generated by the motor corresponding to each joint, the motor compensation rotation angle of the last adjacent joint of each joint pair and the coupling relation between the adjacent joints, wherein the initial joint angle is generated by each joint of the master hand based on the input force signal.
9. A force feedback compensation device for a multi-tooth wheel assembly, the device comprising:
the difference value determining module is used for obtaining a first moment difference value between a theoretical joint moment and an actual joint moment corresponding to a first joint angle of each joint on the hand;
the coupling judgment module is used for judging whether the joints corresponding to the slave hands need to carry out coupling torque calculation or not according to the comparison result of the first torque difference value and the first threshold value;
if yes, acquiring torque fluctuation parameters of gears corresponding to all joints based on the first joint angles of all joints on the slave hand, determining theoretical coupling torque of all the joints according to the torque fluctuation parameters, and acquiring a second torque difference value between the theoretical coupling torque of all the joints and the actual joint torque;
and the feedback compensation module is used for adjusting force compensation signals of all joints of the master hand corresponding to the slave hand according to the second moment difference value when the second moment difference value is smaller than a second threshold value, and all joints of the master hand are in one-to-one linkage with all joints of the slave hand.
10. Robot comprising a memory and a processor, the memory storing a computer program, characterized in that the computer program, when executed by the processor, realizes the steps of the method of any of claims 1 to 8.
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