CN117944029A - Flexible joint control method, flexible joint, mechanical arm, equipment and medium - Google Patents
Flexible joint control method, flexible joint, mechanical arm, equipment and medium Download PDFInfo
- Publication number
- CN117944029A CN117944029A CN202211296227.6A CN202211296227A CN117944029A CN 117944029 A CN117944029 A CN 117944029A CN 202211296227 A CN202211296227 A CN 202211296227A CN 117944029 A CN117944029 A CN 117944029A
- Authority
- CN
- China
- Prior art keywords
- target
- bending
- bending direction
- flexible joint
- pressure
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 64
- 238000005452 bending Methods 0.000 claims abstract description 233
- 239000012530 fluid Substances 0.000 claims abstract description 122
- 238000004590 computer program Methods 0.000 claims description 20
- 238000009434 installation Methods 0.000 claims description 16
- 238000006073 displacement reaction Methods 0.000 claims description 14
- 239000011159 matrix material Substances 0.000 claims description 3
- 230000008569 process Effects 0.000 abstract description 22
- 230000000875 corresponding effect Effects 0.000 description 63
- 230000001276 controlling effect Effects 0.000 description 15
- 238000010586 diagram Methods 0.000 description 9
- 230000004044 response Effects 0.000 description 7
- 230000000694 effects Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 238000004891 communication Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 230000002596 correlated effect Effects 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000007429 general method Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002572 peristaltic effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Landscapes
- Feedback Control In General (AREA)
Abstract
The application is suitable for the technical field of robot control, and provides a control method of a flexible joint, the flexible joint, a mechanical arm, equipment and a medium, wherein the method comprises the following steps: acquiring input information for controlling the direction of the flexible joint; determining a target bending direction of the flexible joint based on the input information; determining a target pressure command corresponding to each fluid driver of the flexible joint in the target bending direction based on the target bending direction and a pre-constructed relation model of pressure and joint bending state; outputting the target pressure command to the corresponding fluid driver. The scheme can ensure that the movement process of the mechanical arm joint is smooth and jitter-free.
Description
Technical Field
The application belongs to the technical field of robot control, and particularly relates to a control method of a flexible joint, the flexible joint, a mechanical arm, equipment and a medium.
Background
In recent years, flexible mechanical arms have been developed more and more rapidly. The flexible mechanical arm is a multi-section mechanical arm similar to a trunk. Each single-section joint is formed by connecting a plurality of fluid drivers in parallel, and the number of the fluid drivers on the single joint is generally more than or equal to 3. The fluid driver is a flexible driver for controlling fluid such as gas or liquid inside by pressure to realize linear motion.
The existing flexible joint is controlled by the following general method:
The pressure inside each fluid driver is regulated by a control valve, and the length of each fluid driver is controlled to be different, so that the rotation, bending and even stretching of the tail end of a single joint can be realized in a limited range. For example, when the number of fluid drivers on a single joint is 3, when any two fluid drivers are pressurized longer and the third fluid driver is compressed shorter, the length difference causes the joint to bend toward the driver whose compression is shortened, and if there is no mechanical constraint in the length direction, all three fluid drivers are pressurized or compressed, so that the length expansion and contraction change of the whole joint can be realized.
However, in the control mode, the valve can be opened or closed or the valve is regulated and reduced, and the response of the switching valve is delayed, so that the joint of the mechanical arm has the characteristics of shaking and creeping in the whole movement process, and the smoothness is lacking.
Disclosure of Invention
The embodiment of the application provides a control method of a flexible joint, the flexible joint, a mechanical arm, equipment and a medium, which are used for solving the problems that the joint of the mechanical arm has the characteristics of shaking and creeping in the whole movement process and lacks smoothness in the prior art.
A first aspect of an embodiment of the present application provides a method of controlling a flexible joint, the flexible joint including a plurality of fluid drivers, the method comprising:
Acquiring input information for controlling the direction of the flexible joint;
determining a target bending direction of the flexible joint based on the input information;
determining a target pressure command corresponding to each fluid driver of the flexible joint in the target bending direction based on the target bending direction and a pre-constructed relation model of pressure and joint bending state; the relation model of the pressure and the joint bending state comprises different set bending directions of the flexible joint and pressure values of the fluid drivers in the state of maximum bending degree under each set bending direction, wherein the different pressure values correspond to different pressure commands;
outputting the target pressure command to the corresponding fluid driver.
A second aspect of an embodiment of the present application provides an articulation control device for a flexible articulation comprising a plurality of fluid drivers, the device comprising:
the acquisition module is used for acquiring input information for controlling the direction of the flexible joint;
The direction determining module is used for determining the target bending direction of the flexible joint based on the input information;
The command determining module is used for determining a target pressure command corresponding to each fluid driver of the flexible joint in the target bending direction based on the target bending direction and a pre-constructed relation model of pressure and joint bending state; the relation model of the pressure and the joint bending state comprises different set bending directions of the flexible joint and pressure values of the fluid drivers in the state of maximum bending degree under each set bending direction, wherein the different pressure values correspond to different pressure commands;
And the control module is used for outputting the target pressure command to the corresponding fluid driver.
A third aspect of an embodiment of the application provides a flexible joint, characterized in that the flexible joint comprises a plurality of fluid drivers, the flexible joint being controlled by the method according to the first aspect above.
A fourth aspect of an embodiment of the present application provides a flexible mechanical arm comprising at least one flexible joint, the flexible mechanical arm enabling control of the flexible joint by a method as described in the first aspect above.
A fifth aspect of an embodiment of the present application provides a computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method according to the first aspect when executing the computer program.
A sixth aspect of the embodiments of the present application provides a computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of the method according to the first aspect.
A seventh aspect of the application provides a computer program product for causing a computer device to carry out the steps of the method of the first aspect described above when said computer program product is run on the computer device.
From the above, in the embodiment of the present application, based on the obtained input information for controlling the direction of the flexible joint, the target bending direction indicated by the input information is determined, and the target pressure command corresponding to each fluid driver in the target bending direction is determined through the previously constructed relationship model, so as to control the pressure command of each fluid driver to directly jump to the maximum calculated pressure in the target bending direction, so that the bending direction can be accurately controlled, and the adaptability of each driver-related valve is in a normally open or normally closed state in the joint movement process, thereby ensuring that the movement process of the mechanical arm joint is smooth and jitter-free.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flowchart of a method for controlling a flexible joint according to an embodiment of the present application;
FIG. 2 is a second flowchart of a method for controlling a flexible joint according to an embodiment of the present application;
FIG. 3 is an exemplary illustration of a fluid driver in a single joint provided in accordance with an embodiment of the present application;
FIG. 4 is an exemplary diagram II of a fluid driver in a single joint provided in accordance with an embodiment of the present application;
FIG. 5 is a block diagram of a flexible joint according to an embodiment of the present application;
FIG. 6 is a block diagram of a flexible mechanical arm according to an embodiment of the present application;
FIG. 7 is a block diagram of a control device for a flexible joint according to an embodiment of the present application;
fig. 8 is a block diagram of a computer device according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As used in this specification and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".
In particular implementations, the computer devices described in embodiments of the present application include, but are not limited to, other portable devices such as mobile phones, laptop computers, or tablet computers having a touch-sensitive surface (e.g., a touch screen display and/or a touch pad). It should also be appreciated that in some embodiments, the device is not a portable communication device, but a desktop computer having a touch-sensitive surface (e.g., a touch screen display and/or a touch pad).
In the following discussion, a computer device including a display and a touch-sensitive surface is described. However, it should be understood that a computer device may include one or more other physical user interface devices such as a physical keyboard, mouse, and/or joystick.
The computer device supports various applications, such as one or more of the following: drawing applications, presentation applications, word processing applications, website creation applications, disk burning applications, spreadsheet applications, gaming applications, telephony applications, video conferencing applications, email applications, instant messaging applications, workout support applications, photo management applications, digital camera applications, digital video camera applications, web browsing applications, digital music player applications, and/or digital video player applications.
Various applications that may be executed on the computer device may use at least one common physical user interface device such as a touch sensitive surface. One or more functions of the touch-sensitive surface and corresponding information displayed on the computer device may be adjusted and/or changed between applications and/or within corresponding applications. In this way, a common physical architecture (e.g., touch-sensitive surface) of the computer device may support various applications with user interfaces that are intuitive and transparent to the user.
It should be understood that, the sequence number of each step in this embodiment does not mean the execution sequence, and the execution sequence of each process should be determined by its function and internal logic, and should not limit the implementation process of the embodiment of the present application in any way.
In order to illustrate the technical scheme of the application, the following description is made by specific examples.
Referring to fig. 1, fig. 1 is a flowchart of a method for controlling a flexible joint according to an embodiment of the present application. As shown in fig. 1, a method for controlling a flexible joint includes the steps of:
And 101, acquiring input information for controlling the direction of the flexible joint.
Wherein the flexible joint includes a plurality of fluid drivers therein. Control commands for the respective fluid actuators need to be obtained based on the input information.
The fluid driver of the present application may be gas driven, such as: air, also liquid driven, such as: the water or oil, and in particular the examples herein are not intended to be limiting, and the embodiments of the application are specifically described by way of gas driven examples and are not intended to limit the application.
The flexible joint in the embodiment of the present application may be composed of a plurality of the above-mentioned fluid drivers, and the flexible joint is specifically a joint in a flexible mechanical arm.
Step 102, determining a target bending direction of the flexible joint based on the input information.
The input information may be a numerical input by software or a manipulation input by a manipulator through a control device.
The control device is, for example, a control device with a rocker, and a control person controls the rocker handle to control the direction of the mechanical arm joint. The rocker handle can axially displace in a set x-axis direction and a set y-axis direction.
Correspondingly, the input information includes:
A first rocker displacement in the x-axis direction and a second rocker displacement in the y-axis direction, which are input through the rocker handle.
The displacement of the rocker handle in the axial direction corresponds to the orientation control direction of the flexible joint in space.
Wherein, can regard rocker handle as the benchmark to set up the coordinate system, this coordinate system has above-mentioned setting x axis direction and setting y axis direction. The coordinate system and the space coordinate system where the flexible joint is located have a space mapping relation, so that the displacement of the rocker handle in the axial direction can be mapped into the direction of the flexible joint in space.
Correspondingly, the determining the target bending direction of the flexible joint based on the input information comprises:
based on the input information, a target bending direction of the flexible joint is calculated by the following formula:
β＝atan2(Y,X)；
Wherein Y is the second rocker displacement, X is the first rocker displacement, and beta is the direction angle of the target bending direction.
In a specific embodiment, based on the input information, when it is determined that the information amount corresponding to the input information is located in the input dead zone, the bending direction corresponding to the valid input information with the latest time is determined as the target bending direction, and the pressure command corresponding to the valid input information with the latest time is determined as the target pressure command.
And step 103, determining a target pressure command corresponding to each fluid driver of the flexible joint in the target bending direction based on the target bending direction and a pre-constructed relation model of pressure and joint bending state.
The relation model of the pressure and the joint bending state comprises different set bending directions of the flexible joint and pressure values of the fluid drivers in the state of maximum bending degree under each set bending direction, wherein the different pressure values correspond to different pressure commands.
In the implementation process, it is necessary to perform a relationship model construction before determining a target pressure command corresponding to each fluid driver of the flexible joint in the target bending direction based on the target bending direction and a relationship model of the pre-constructed pressure and joint bending state. As shown in connection with fig. 2, the process specifically includes:
step 201, determining each set bending direction;
Step 202, adjusting the maximum bending state of each section of the flexible joint in each set bending direction according to the set bending direction, and recording the pressure value of each fluid driver in each maximum bending state;
And 203, constructing a relation model of the pressure and the joint bending state based on the set bending direction and the pressure value.
The process begins by modeling the mathematical relationship between pressure and joint bending state (including bending angle and/or bending direction) of each fluid driver.
By bending the joint to different directions up to the limit, the pressure value of the driver at the moment is recorded, and then a relation model of the pressure and the bending state of the joint is established.
In one embodiment, the inputs to the rocker handle are bend angle and bend direction commands, and the pressure commands required for each fluid driver are calculated back through the established mathematical relationship model. Each fluid driver then independently performs pressure following control, thereby achieving joint control.
The over-pressure can be avoided by setting the upper pressure limit, and the respective pressure commands are arranged between the fluid drivers and are independently controlled, so that the fluid drivers are not mutually influenced, and the risk of overcharge damage is avoided.
The control effect of the control strategy is that based on the obtained input information for controlling the direction of the flexible joint, the target bending direction indicated by the input information is determined, and the target pressure command corresponding to each fluid driver in the target bending direction is determined through a pre-constructed relation model, so that the pressure command of each fluid driver is controlled to directly jump to the maximum calculated pressure in the target bending direction, the bending direction can be accurately controlled, and in the moving process, the adaptability of the related valves of each driver is in a normally open or normally closed state, and the smooth and jitter-free moving process of the mechanical arm joint is ensured.
In an optional embodiment, the determining, based on the target bending direction and a pre-constructed relationship model between pressure and joint bending state, a target pressure command corresponding to each fluid driver of the flexible joint in the target bending direction specifically includes:
Determining a first bending direction and a first pressure value of each fluid driver in a state of maximum bending degree in the first bending direction from a pre-constructed relation model of the pressure and joint bending state based on the target bending direction, and determining a second bending direction and a second pressure value of each fluid driver in a state of maximum bending degree in the second bending direction;
and determining a target pressure value corresponding to each fluid driver of the flexible joint in the target bending direction based on the first pressure value and the second pressure value corresponding to each fluid driver respectively, and obtaining the target pressure command corresponding to the target pressure value.
The first bending direction is a bending direction corresponding to a largest direction angle among all bending directions with different set bending directions, wherein the direction angle is smaller than the largest direction angle among all bending directions with different set bending directions, and the second bending direction is a bending direction corresponding to a smallest direction angle among all bending directions with different set bending directions, wherein the direction angle is larger than the target bending direction.
That is, the direction of the set bending direction in which the direction angle is smaller than the target bending direction is divided into a first set, the direction of the set bending direction in which the direction angle is larger than the target bending direction is divided into a second set, the direction of the first set in which the direction angle is largest is the first bending direction, and the direction of the second set in which the direction angle is smallest is the second bending direction.
After obtaining the first pressure value of each fluid driver in the first bending direction and the second pressure value of each fluid driver in the second bending direction, the target pressure value can be determined based on the first pressure value and the second pressure value.
The target pressure value may be an average value, a weighted average value, or a result value obtained by other mathematical operations, which is obtained based on the first pressure value and the second pressure value.
Further, optionally, the determining, based on the first pressure value and the second pressure value corresponding to each fluid driver, a target pressure value corresponding to each fluid driver of the flexible joint in the target bending direction includes:
Calculating a target pressure value corresponding to each fluid driver of the flexible joint in the target bending direction according to the following formula based on the first pressure value and the second pressure value corresponding to each fluid driver respectively:
Wherein, (P 1,P2,P3,…,Pm) is a target pressure value corresponding to each fluid driver of the flexible joint in the target bending direction, β is a direction angle of the target bending direction, β n is a direction angle of the first bending direction, β n+1 is a direction angle of the second bending direction, (P n1,Pn2,Pn3,…,Pnm) is the first pressure value corresponding to each fluid driver, and (P (n+1)1,P(n+1)2,P(n+1)3,…,P(n+1)m) is the second pressure value corresponding to each fluid driver.
In the implementation process, assuming that N data of different adjacent maximum bending states are collected, and that each joint has m fluid drivers, and the i-th set of pressures P i＝(Pi1,Pi2,Pi3,…,Pim) corresponds to the angle value β i of the i-th set of bending directions, when the direction angle of the target bending direction is β, the required pressure value can be obtained by interpolation:
Wherein, beta n is the maximum value of all data points with the angle value of the direction angle smaller than beta in the set bending direction, and (P n1,Pn2,Pn3,…,Pnm) is the corresponding pressure value; beta n+1 is the minimum value of data points where the angle value of the direction angle in all the set bending directions is greater than beta, and (P (n+1)1,P(n+1)2,P(n+1)3,…,P(n+1)m) is the pressure value corresponding to the minimum value. (P 1,P2,P3,…,Pm) when the direction angle of the target bending direction is beta, the calculated target pressure command corresponds to the target pressure value.
When the single joint of the mechanical arm bends at a certain angle, two end faces of the joint incline, and the planes of the two end faces form intersecting lines in space, as shown in fig. 3, the bending direction of the single joint of the mechanical arm is realized along with the adjustment of the pressure value of the fluid driver assembled inside. Specifically, in fig. 3, a coordinate system is established with reference to the installation end surface of each fluid driver in the current joint, the x-axis and the y-axis in the coordinate system are located on the plane of the installation end surface, the z-axis is perpendicular to the installation end surface, and the direction angle β of the target bending direction can be determined based on the coordinate system.
In another specific embodiment, determining a target pressure command corresponding to each fluid driver of the flexible joint in the target bending direction based on the target bending direction and a pre-constructed relationship model of pressure and joint bending state includes:
Acquiring an included angle between an installation position vector of the ith fluid driver and an installation end face; i is a positive integer;
Calculating a target pressure value corresponding to each fluid driver in the maximum bending degree state of the flexible joint in the target bending direction based on the included angle, the combination constant coefficient and the direction angle of the target bending direction;
wherein the constant coefficients comprise constant coefficients corresponding to the maximum bending degree and constant coefficients corresponding to pressure distribution of each fluid driver in the flexible joint;
Optionally, the constant coefficient corresponding to the maximum degree of bending is positively correlated with the maximum degree of bending, and the constant coefficient corresponding to the pressure distribution of each fluid driver in the flexible joint is positively correlated with the pressure distribution value of the different fluid driver.
Corresponding to the specific embodiment, the determining, based on the target bending direction and the pre-constructed relation model of the pressure and the joint bending state, the target pressure command corresponding to each fluid driver of the flexible joint in the target bending direction includes:
Determining a target pressure value corresponding to each fluid driver of the flexible joint in the target bending direction based on the target bending direction and the following model formula corresponding to the pre-constructed relation model of the pressure and the joint bending state:
P＝(ATA)-1ATB；
Wherein the vector is Matrix/>Vector/>Wherein P is a target pressure value corresponding to each fluid driver of the flexible joint in the target bending direction, theta i is an included angle between an installation position vector of the ith fluid driver and an installation end face, i epsilon [1, m ], m is the number of all the fluid drivers in the flexible joint, and m is an integer greater than 2; c 1 is a constant coefficient corresponding to the maximum bending degree, C 2 is a constant coefficient corresponding to pressure distribution of each of the fluid drivers in the flexible joint, and β is a direction angle of the target bending direction.
More specifically, θ i is an angle between the mounting position vector of the i-th fluid driver and the X-axis of the mounting end face. Referring to fig. 4, three fluid drivers are included, and the angles between the three fluid drivers and the X-axis of the mounting end face are respectively θ 1、θ2、θ3. The installation position vector of the fluid driver is a vector corresponding to a connecting line between a central point of an installation bottom surface of the fluid driver and an origin of a coordinate system established on an installation end surface. Wherein, the central point of installation bottom surface is located the installation terminal surface.
Where C 1 and C 2 are constant coefficients, C 1 determines the maximum degree of bending, and C 2 determines the pressure distribution.
Step 104, outputting the target pressure command to the corresponding fluid driver.
After the target pressure command is determined, the pressure tracking control of the bottom layer can be performed. The pressure control dead zone may be set to 1-2 KPa.
The dead zone is sometimes referred to as a neutral zone or an inactive zone, and refers to an input signal range corresponding to zero output in a transfer function of the control system.
In practice, pressure control is typically provided with a dead zone of 1 to 2 kilopascals. When the actual pressure is within the dead band range of the pressure command, the valve is closed, and when the pressure error is greater than the set dead band, the valve needs to be briefly opened to trim the pressure, keeping the pressure within the set dead band. The valve start-stop results in the actual pressure curve not being an ideal smooth curve, but rather pressure tracking by a small amount of jump. The switching response speed of the valve determines the magnitude of the minimum jump pressure. The response of the common switch valve is 30-40 Hz, and the small pressure jump caused by the common switch valve can lead the joint not to be smooth in the whole movement process, but can show the characteristics of shaking and peristaltic movement. The high frequency valve reduces the jitter but also has the effect of vibration.
In the embodiment of the application, the control direction is calculated through input information, then the pressure value under the maximum bending angle in the direction is calculated as the pressure command through the relation model of the pressure and the joint bending state, so that the pressure value under the maximum bending angle in a certain direction is suddenly changed in the joint movement process due to the pressure command, the pressure difference is larger, and most of the pressure control is far away from dead zone edge control in the whole pressure tracking control process, and dead zone jitter is not generated. And the control pressure which is continuously output subsequently lacks the pressure difference, so that after the pressure control enters the pressure command dead zone, the bending angle of the joint reaches the maximum value in the direction, so that the joint does not continue to act, the joint shake is avoided, and the joint damping device can be well adapted to various joint damping.
Further, in the joint control process, an operator can stop inputting at any time, and the joint state can be kept at the current position, so that the joint control can be stopped at any position, and the control performance is good.
In the embodiment of the application, the target bending direction indicated by the input information is determined based on the obtained input information for controlling the direction of the flexible joint, and the target pressure command corresponding to each fluid driver in the target bending direction is determined through a pre-constructed relation model so as to control the pressure command of each fluid driver to directly jump to the maximum calculated pressure in the target bending direction, so that the bending direction can be accurately controlled, the adaptability of the relevant valve of each driver is in a normally open or normally closed state in the joint movement process, and the smooth and jitter-free movement process of the mechanical arm joint is ensured.
Fig. 5 is a block diagram of a flexible joint according to an embodiment of the present application. As shown in this figure, embodiments of the present application provide a flexible joint.
Specifically, the flexible joint includes a plurality of fluid drivers, and the flexible joint is controlled by the control method of the flexible joint according to any one of the above. And the same technical effects can be achieved, and in order to avoid repetition, the description is omitted here.
Fig. 6 is a structural diagram of a flexible mechanical arm according to an embodiment of the present application.
As shown in the figure, the flexible mechanical arm in the embodiment of the application comprises at least one flexible joint, and the flexible mechanical arm realizes the control of the flexible joint through the control method of the flexible joint according to any one of the above. And the same technical effects can be achieved, and in order to avoid repetition, the description is omitted here.
Referring to fig. 7, fig. 7 is a block diagram of a joint control device for a flexible joint according to an embodiment of the present application, and only a portion related to the embodiment of the present application is shown for convenience of explanation.
The flexible joint includes a plurality of fluid drivers, and the joint control device 700 of the flexible joint includes:
an acquisition module 701, configured to acquire input information for controlling a direction of the flexible joint;
A direction determining module 702, configured to determine a target bending direction of the flexible joint based on the input information;
A command determining module 703, configured to determine a target pressure command corresponding to each fluid driver of the flexible joint in the target bending direction based on the target bending direction and a pre-constructed relationship model of pressure and joint bending state; the relation model of the pressure and the joint bending state comprises different set bending directions of the flexible joint and pressure values of the fluid drivers in the state of maximum bending degree under each set bending direction, wherein the different pressure values correspond to different pressure commands;
a control module 704 for outputting the target pressure command to the corresponding fluid driver.
The command determining module 703 is specifically configured to:
Determining a first bending direction and a first pressure value of each fluid driver in a state of maximum bending degree in the first bending direction from a pre-constructed relation model of the pressure and joint bending state based on the target bending direction, and determining a second bending direction and a second pressure value of each fluid driver in a state of maximum bending degree in the second bending direction;
The first bending direction is a bending direction corresponding to a largest direction angle in all bending directions with a direction angle smaller than the target bending direction in different set bending directions, and the second bending direction is a bending direction corresponding to a smallest direction angle in all bending directions with a direction angle larger than the target bending direction in different set bending directions;
and determining a target pressure value corresponding to each fluid driver of the flexible joint in the target bending direction based on the first pressure value and the second pressure value corresponding to each fluid driver respectively, and obtaining the target pressure command corresponding to the target pressure value.
Wherein, the command determining module 703 is more specifically configured to:
Calculating a target pressure value corresponding to each fluid driver of the flexible joint in the target bending direction according to the following formula based on the first pressure value and the second pressure value corresponding to each fluid driver respectively:
Wherein, (P 1,P2,P3,…,Pm) is a target pressure value corresponding to each fluid driver of the flexible joint in the target bending direction, β is a direction angle of the target bending direction, β n is a direction angle of the first bending direction, β n+1 is a direction angle of the second bending direction, (P n1,Pn2,Pn3,…,Pnm) is the first pressure value corresponding to each fluid driver, and (P (n+1)1,P(n+1)2,P(n+1)3,…,P(n+1)m) is the second pressure value corresponding to each fluid driver.
The command determining module 703 is specifically configured to:
Determining a target pressure value corresponding to each fluid driver of the flexible joint in the target bending direction based on the target bending direction and the following model formula corresponding to the pre-constructed relation model of the pressure and the joint bending state:
P＝(ATA)-1ATB；
Wherein the vector is Matrix/>Vector/>Wherein P is a target pressure value corresponding to each fluid driver of the flexible joint in the target bending direction, theta i is an included angle between an installation position vector of the ith fluid driver and an installation end face, i epsilon [1, m ], m is the number of all the fluid drivers in the flexible joint, and m is an integer greater than 2; c 1 is a constant coefficient corresponding to the maximum bending degree, C 2 is a constant coefficient corresponding to pressure distribution of each of the fluid drivers in the flexible joint, and β is a direction angle of the target bending direction.
The apparatus further comprises:
The model building module is used for:
determining each set bending direction;
according to the set bending directions, respectively adjusting the maximum bending states of all sections of joints in the flexible joints in all the set bending directions, and recording the pressure values of all the fluid drivers in each maximum bending state;
And constructing a relation model of the pressure and the joint bending state based on the set bending direction and the pressure value.
Wherein the input information includes:
A first rocker displacement in the x-axis direction and a second rocker displacement in the y-axis direction, which are input through the rocker handle.
Correspondingly, the direction determining module 702 is specifically configured to:
based on the input information, a target bending direction of the flexible joint is calculated by the following formula:
β＝atan2(Y,X)；
Wherein Y is the second rocker displacement, X is the first rocker displacement, and beta is the direction angle of the target bending direction.
The device for controlling the flexible joint provided by the embodiment of the application can realize the processes of the embodiment of the method for controlling the flexible joint, and can achieve the same technical effects, and in order to avoid repetition, the description is omitted.
Fig. 8 is a block diagram of a computer device according to an embodiment of the present application. As shown in the figure, the computer device 8 of this embodiment includes: at least one processor 80 (only one shown in fig. 8), a memory 81 and a computer program 82 stored in the memory 81 and executable on the at least one processor 80, the processor 80 implementing the steps in any of the various method embodiments described above when executing the computer program 82.
The computer device 8 may be a desktop computer, a notebook computer, a palm computer, a cloud server, or the like. The computer device 8 may include, but is not limited to, a processor 80, a memory 81. It will be appreciated by those skilled in the art that fig. 8 is merely an example of computer device 8 and is not limiting of computer device 8, and may include more or fewer components than shown, or may combine certain components, or different components, e.g., the computer device may also include input and output devices, network access devices, buses, etc.
The Processor 80 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), field-Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 81 may be an internal storage unit of the computer device 8, such as a hard disk or a memory of the computer device 8. The memory 81 may also be an external storage device of the computer device 8, such as a plug-in hard disk, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD) or the like, which are provided on the computer device 8. Further, the memory 81 may also include both an internal storage unit and an external storage device of the computer device 8. The memory 81 is used for storing the computer program and other programs and data required by the computer device. The memory 81 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided by the present application, it should be understood that the disclosed apparatus/computer device and method may be implemented in other manners. For example, the apparatus/computer device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the computer readable medium contains content that can be appropriately scaled according to the requirements of jurisdictions in which such content is subject to legislation and patent practice, such as in certain jurisdictions in which such content is subject to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.
The present application may also be implemented as a computer program product for implementing all or part of the procedures of the methods of the embodiments, which when run on a computer device causes the computer device to perform the steps of the method embodiments described above.
The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (11)
1. A method of controlling a flexible joint, the flexible joint comprising a plurality of fluid drivers, the method comprising:
Acquiring input information for controlling the direction of the flexible joint;
determining a target bending direction of the flexible joint based on the input information;
determining a target pressure command corresponding to each fluid driver of the flexible joint in the target bending direction based on the target bending direction and a pre-constructed relation model of pressure and joint bending state; the relation model of the pressure and the joint bending state comprises different set bending directions of the flexible joint and pressure values of the fluid drivers in the state of maximum bending degree under each set bending direction, wherein the different pressure values correspond to different pressure commands;
outputting the target pressure command to the corresponding fluid driver.
2. The method of claim 1, wherein determining a target pressure command for each of the fluid actuators for the flexible joint in the target bending direction based on the target bending direction and a pre-constructed pressure versus joint bending state model comprises:
Determining a first bending direction and a first pressure value of each fluid driver in a state of maximum bending degree in the first bending direction from a pre-constructed relation model of the pressure and joint bending state based on the target bending direction, and determining a second bending direction and a second pressure value of each fluid driver in a state of maximum bending degree in the second bending direction; the first bending direction is a bending direction corresponding to a largest direction angle in all bending directions with a direction angle smaller than the target bending direction in different set bending directions, and the second bending direction is a bending direction corresponding to a smallest direction angle in all bending directions with a direction angle larger than the target bending direction in different set bending directions;
and determining a target pressure value corresponding to each fluid driver of the flexible joint in the target bending direction based on the first pressure value and the second pressure value corresponding to each fluid driver respectively, and obtaining the target pressure command corresponding to the target pressure value.
3. The method of claim 2, wherein determining a target pressure value for each of the fluid drivers for the flexible joint in the target flexion direction based on the first pressure value and the second pressure value for each of the fluid drivers, respectively, comprises:
Calculating a target pressure value corresponding to each fluid driver of the flexible joint in the target bending direction according to the following formula based on the first pressure value and the second pressure value corresponding to each fluid driver respectively:
Wherein, (P 1,P2,P3,…,Pm) is a target pressure value corresponding to each fluid driver of the flexible joint in the target bending direction, β is a direction angle of the target bending direction, β n is a direction angle of the first bending direction, β n+1 is a direction angle of the second bending direction, (P n1,Pn2,Pn3,…,Pnm) is the first pressure value corresponding to each fluid driver, and (P (n+1)1,P(n+1)2,P(n+1)3,…,P(n+1)m) is the second pressure value corresponding to each fluid driver.
4. The method of claim 1, wherein determining a target pressure command for each of the fluid actuators for the flexible joint in the target bending direction based on the target bending direction and a pre-constructed pressure versus joint bending state model comprises:
Determining a target pressure value corresponding to each fluid driver of the flexible joint in the target bending direction based on the target bending direction and the following model formula corresponding to the pre-constructed relation model of the pressure and the joint bending state:
P＝(ATA)-1ATB；
Wherein the vector is Matrix/>Vector/>Wherein P is a target pressure value corresponding to each fluid driver of the flexible joint in the target bending direction, theta i is an included angle between an installation position vector of the ith fluid driver and an installation end face, i epsilon [1, m ], m is the number of all the fluid drivers in the flexible joint, and m is an integer greater than 2; c 1 is a constant coefficient corresponding to the maximum bending degree, C 2 is a constant coefficient corresponding to pressure distribution of each of the fluid drivers in the flexible joint, and β is a direction angle of the target bending direction.
5. The method of claim 1, wherein determining the target pressure command for each fluid driver for the flexible joint in the target bending direction based on the target bending direction and a pre-constructed pressure versus joint bending state model, further comprises:
determining each set bending direction;
according to the set bending directions, respectively adjusting the maximum bending states of all sections of joints in the flexible joints in all the set bending directions, and recording the pressure values of all the fluid drivers in each maximum bending state;
And constructing a relation model of the pressure and the joint bending state based on the set bending direction and the pressure value.
6. The method of claim 1, wherein the input information comprises: a first rocker displacement in the x-axis direction and a second rocker displacement in the y-axis direction, which are input through the rocker handle.
7. The method of claim 6, wherein determining a target bending direction of the flexible joint based on the input information comprises:
based on the input information, a target bending direction of the flexible joint is calculated by the following formula:
β＝atan2(Y,X)；
Wherein Y is the second rocker displacement, X is the first rocker displacement, and beta is the direction angle of the target bending direction.
8. A flexible joint comprising a plurality of fluid drivers, wherein the flexible joint is controlled by the method of any one of claims 1-7.
9. A flexible manipulator comprising at least one flexible joint, wherein the flexible manipulator is controlled by a method according to any one of claims 1-7.
10. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 7 when the computer program is executed.
11. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211296227.6A CN117944029A (en) | 2022-10-21 | 2022-10-21 | Flexible joint control method, flexible joint, mechanical arm, equipment and medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211296227.6A CN117944029A (en) | 2022-10-21 | 2022-10-21 | Flexible joint control method, flexible joint, mechanical arm, equipment and medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117944029A true CN117944029A (en) | 2024-04-30 |
Family
ID=90793235
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211296227.6A Pending CN117944029A (en) | 2022-10-21 | 2022-10-21 | Flexible joint control method, flexible joint, mechanical arm, equipment and medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117944029A (en) |
-
2022
- 2022-10-21 CN CN202211296227.6A patent/CN117944029A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11833692B2 (en) | Method and device for controlling arm of robot | |
| CN105247454A (en) | Tilting to scroll | |
| WO2021098878A1 (en) | Method and device for predicting drawing point of stylus pen | |
| WO2022121003A1 (en) | Robot control method and device, computer-readable storage medium, and robot | |
| CN109693234B (en) | Robot falling prediction method and device, terminal equipment and computer storage medium | |
| CN113119081B (en) | Inverse solution method and device for arm angle interval of mechanical arm and terminal equipment | |
| CN105430331A (en) | Method and device for adjusting display direction of monitor image | |
| WO2020233137A1 (en) | Method and apparatus for determining value of loss function, and electronic device | |
| US20210387340A1 (en) | Robotic arm space position adjustment method, robotic arm controller and computer readable storage medium | |
| CN103220339B (en) | Cursor display packing, device and system in remote operation | |
| US11631204B2 (en) | Generating candidate mirror snap points using determined axes of symmetry | |
| CN113297262A (en) | Data flow graph layout method and device | |
| US20180207531A1 (en) | Program, electronic device, system, and method for determining resource allocation for executing rendering while predicting player's intent | |
| CN114329684B (en) | Model pre-matching method and system based on BIM | |
| CN117944029A (en) | Flexible joint control method, flexible joint, mechanical arm, equipment and medium | |
| CN115859749B (en) | Constraint building method and device of three-dimensional model, electronic equipment and storage medium | |
| WO2019108374A1 (en) | Visual transformation using a motion profile | |
| US20210187731A1 (en) | Robotic arm control method and apparatus and terminal device using the same | |
| CN115268447A (en) | Robot pose control method and device based on Bezier curve and electronic equipment | |
| US11049296B2 (en) | Dynamic path modification and extension | |
| CN117944031A (en) | Control method of flexible mechanical arm, equipment and medium | |
| CN108288298B (en) | Method and device for drawing function image, computer equipment and storage medium | |
| CN113589981A (en) | Display method and device, terminal and readable storage medium | |
| US10684689B2 (en) | Cross-platform dynamic haptic effect design tool for augmented or virtual reality environments | |
| CN112507528A (en) | Planar space one-to-two normal acceleration capability back tracking method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |