KR20160118559A - Robot control system, method and computer readable medium - Google Patents

Robot control system, method and computer readable medium Download PDF

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KR20160118559A
KR20160118559A KR1020150046858A KR20150046858A KR20160118559A KR 20160118559 A KR20160118559 A KR 20160118559A KR 1020150046858 A KR1020150046858 A KR 1020150046858A KR 20150046858 A KR20150046858 A KR 20150046858A KR 20160118559 A KR20160118559 A KR 20160118559A
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impedance
robot
parameter
external environment
calculated
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KR1020150046858A
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KR101675522B1 (en
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배준규
배강태
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동영오에이퍼니처 (주)
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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
    • 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
    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator

Abstract

The present invention relates to a robot control system, a control method, and a computer readable recording medium. According to the present invention, a robot control system changing a plurality of impedance parameters of a robot comprises: an impedance setting unit setting the impedance parameters; a sensor unit measuring power received from an external environment when the robot is in contact with the external environment; an environment rigidity calculation unit calculating environment rigidity impedance having information with respect to rigidity of the external environment from the power; and an impedance control unit changing at least one value of the impedance parameters by responding to the environment rigidity impedance.

Description

[0001] The present invention relates to a robot control system, a control method, and a computer readable medium,

The present invention relates to a robot control system, a control method, and a computer-readable recording medium. More particularly, to a robot control system that controls optimized impedance parameters in response to external environmental stiffness, a control method, and a computer readable recording medium on which a program for execution by a computer is recorded.

With the development of robotic technology in the modern society, demand for robots is rapidly increasing in various fields such as manufacturing industry and service industry. Especially, in the case of work such as assembly, where the direct contact between the workpiece and the robot is main, it is important how accurately and quickly the work can be performed by using force control technology.

The currently developed technology can successfully accomplish assembly work using a robot manipulator, but it has not yet been fully integrated into the workplace as a means of replacing workers. This is because the robot is significantly slower than a skilled worker. In addition, it is troublesome to manually set the force control parameter value according to the type of work and the physical characteristics of the workpiece to be contacted.

In order to maximize the efficiency of assembly work, a control method for improving response speed while maintaining stable contact between an object and a robot is being studied.

According to an aspect of the present invention, there is provided a robot control device, a control method, and a control method for improving contact stability and response speed of an assembling / contacting robot when the robot system works in contact with an unknown environment without prior knowledge about the assembly / And to provide a recorded computer readable recording medium.

According to an aspect of the present invention, there is provided a robot control system for changing a plurality of impedance parameters of a robot, the robot control system comprising: an impedance setting unit for setting the plurality of impedance parameters; An environmental stiffness calculating section for calculating an environmental stiffness impedance having information on the stiffness of the external environment from the force, and a controller for calculating at least one value of the plurality of impedance parameters corresponding to the environmental stiffness impedance A robot control system including an impedance control unit for changing the impedance of the robot.

Further, the plurality of impedance parameters may include a first impedance parameter which is a parameter relating to the mass of the robot, a second impedance parameter which is a parameter relating to damping of the robot, and a third impedance parameter which is a parameter relating to the rigidity of the robot And may include at least one.

Also, the impedance controller may control the plurality of impedance parameters using the following equation.

Figure pat00001

Here, m is a predetermined first impedance parameter, b 'is the calculated second impedance parameter, k is a predetermined third impedance parameter, the time constant of the? k e Represents the calculated environmental stiffness impedance, respectively.

Also, the impedance controller may change the second impedance parameter from a value set by the impedance setting unit to a value calculated by the above equation.

In addition, the sensor unit may measure a force with the passive observer (PO) and the passivity controller (PC) maintaining the robot in contact with the external environment.

Further, the environmental stiffness calculating unit may calculate the environmental stiffness impedance using the following equation.

Figure pat00002

Here, F m is a force received from the external environment, k is a predetermined third impedance parameter, k e is a calculated environmental stiffness impedance, | (x ei -x ev ) | is a state in which the robot is in contact with the external environment Respectively.

According to another aspect of the present invention, there is provided a method of controlling a robot, comprising the steps of: setting a first impedance parameter as a parameter relating to a mass of a robot; a second impedance parameter as a parameter relating to damping of the robot; and a third impedance parameter as a parameter relating to the rigidity of the robot Measuring a force from the external environment by bringing the robot into contact with an external environment; calculating an environmental stiffness impedance of the external environment from the measured force; and calculating the second impedance parameter corresponding to the environmental stiffness impedance The robot control method comprising the steps of:

The method may further include changing the second impedance parameter to a value calculated from the set value.

The step of measuring force from the external environment may be performed by a passivity observer (PO) and a passivity controller (PC) to measure the force with the robot maintaining contact with the external environment have.

Also, in the step of changing the second impedance parameter, the impedance controller may calculate the second impedance parameter using the following equation.

Figure pat00003

Here, m is a predetermined first impedance parameter, b 'is the calculated second impedance parameter, k is a predetermined third impedance parameter, τ is the time constant of the filter section, and k e represents the calculated environmental stiffness impedance, respectively.

The step of calculating the environmental stiffness impedance may calculate the environmental stiffness impedance using the following equation.

Figure pat00004

Here, F m is a force received from the external environment, k is a predetermined third impedance parameter, k e is a calculated environmental stiffness impedance, | (x ei -x ev ) | is a state in which the robot is in contact with the external environment Respectively.

In addition, a computer readable recording medium on which a program for executing a robot control method according to the present invention is recorded can be provided.

According to the robot control system, the control method, and the computer readable recording medium according to an embodiment of the present invention, the response speed of the robot can be improved while maintaining the contact stability between the robot and the external environment.

1 is a perspective view illustrating a robot control system according to an embodiment of the present invention.
2 is a block diagram illustrating the robot control system of FIG.
FIGS. 3 and 4 are conceptual diagrams showing the relationship between the robot control system of FIG. 1 and the external environment.
5 is a flowchart showing a control method of the robot control system of Fig.
Figs. 6 and 7 are graphs showing the contact stability between the control robot system of Fig. 1 and the external environment.
8 is a graph showing a change in response speed using the control robot system of FIG.

BRIEF DESCRIPTION OF THE DRAWINGS The present invention will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which: FIG. The present invention may, however, be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Is provided to fully convey the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. It is noted that the terms "comprises" and / or "comprising" used in the specification are intended to be inclusive in a manner similar to the components, steps, operations, and / Or additions. The terms first, second, etc. may be used to describe various elements, but the elements should not be limited by terms. Terms are used only for the purpose of distinguishing one component from another.

FIG. 1 is a perspective view showing a robot control system 10 according to an embodiment of the present invention, and FIG. 2 is a block diagram showing the robot control system 10 of FIG.

1 and 2, the robot control system 10 includes a control device 11, a robot 15 that receives a control signal from the control device 11, And a sensor unit 130 may be provided.

The control device 11 can control the characteristics of the robot 15 by setting or changing a plurality of impedance parameters that can be changed by the robot 15. [ The control device 11 may include an impedance setting unit 110, an impedance control unit 120, an environmental stiffness calculating unit 140, and an impedance calculating unit 150. [

The plurality of impedance parameters are determined based on the first impedance parameter m as a parameter relating to the mass of the robot 15, the second impedance parameter b as a parameter relating to the damping of the robot 15 and the stiffness of the robot 15 (K), which is a parameter related to the third impedance parameter k.

The impedance setting unit 110 may set a plurality of impedance parameters. An external user can directly set the value of each impedance parameter to an input device (not shown), and the value of each impedance parameter stored in the memory unit (not shown) can be set.

The impedance controller 120 may apply the value of the impedance parameter set by the impedance setting unit 110 to the robot 15 or change the value of the impedance parameter predetermined by the value calculated by the impedance calculating unit 150. [

The environmental stiffness calculating unit 140 can measure the environmental stiffness impedance k e , which is information on the stiffness of the external environment 20 from the force measured by the sensor unit 130. The environmental stiffness impedance k e of the external environment 20 can be calculated. The environmental stiffness calculating unit 140 measures the force measured by the sensor unit 130 and the moving distance of the robot 15 and the third impedance parameter k set by the impedance setting unit 110, e ) can be measured.

The impedance calculating unit 150 may calculate at least one of a plurality of impedance parameters corresponding to the environmental stiffness impedance k e measured by the environmental stiffness calculating unit 140. The impedance calculating unit 150 may calculate the second impedance parameter b which is a parameter related to the damping of the robot 15 using the Lyapunov theory. This will be described in detail below.

The robot (15) can operate by receiving a control signal from the control device (11). The robot 15 includes a plurality of robot arms 15a, a plurality of actuators 15b connecting the robot arms 15a, an end effector 15c provided at one end of the robot arm 15a, a control device 11, And a manipulator 15d connected thereto.

The actuator 15b receives a signal related to the position, angle and angular velocity in the control device 11, and can control the position and the force of the robot 15. The end effector 15c can be modified according to the purpose of use of the robot 15. [ Hereinafter, for the convenience of explanation, the gripper type end effector 15c will be mainly described.

The sensor unit 130 is disposed adjacent to the end effector 15c to measure the contact force of the end effector 15c from the external environment 20. [ When the end effector 15c comes into contact with the external environment 20, it receives force from the external environment 20. [

The external environment 20 can contact the robot 15 and transmit the contact force of the robot 15. [ The external environment 20 includes uncertainties in any environment. 3 and 4, the external environment 20 may have a parameter m e about the mass, a parameter b e about the damping and a parameter k e about the stiffness. Each parameter is a unique value that indicates the characteristics of the external environment 20. Therefore, the robot 15 may be in an unstable or stable state between the robot 15 and the external environment 20 according to the external environment 20 in contact with the robot 15.

If the robot 15 and the external environment 20 become unstable, the robot 15 can not perform the desired work effectively. For example, the robot 15, which is intended for the end effector 15c to move the object 16 to a specific position in the external environment 20, may become unstable with respect to the external environment 20. [ If the contact between the robot 15 and the external environment 20 becomes unstable, the robot 15 may vibrate or disturbance may occur in the system.

FIGS. 3 and 4 are conceptual diagrams showing the relationship between the robot control system 10 and the external environment 20 of FIG.

Referring to FIGS. 3 and 4, the environmental stiffness impedance k e of the external environment 20 can be calculated from the contact force measured by the sensor unit 130.

Figure pat00005

Here, Fm can be measured at the sensor unit 130 by the force received from the external environment 20. k is a second impedance parameter set by the impedance setting unit 110, and | (x ei -x ev ) | is the distance moved by the robot 15 in contact with the external environment.

| (x -x ei ev) | is the distance traveled in the state in which the end effector (15c) of the robot (15) held in contact reliability and the environment 20, the robot (15). Is the position of the end effector 15c at the time when the end effector 15c starts to contact the external environment 20 and is the position of the end effector 15c at the time when the movement of the end effector 15c is terminated. The distance can be measured from the change in the rotation angle of the actuator 15b by an encoder (not shown) connected to the actuator 15b.

k e can be calculated by Equation (1). The calculated environmental stiffness impedance (k e ) represents a characteristic relating to the stiffness of the external environment (20).

A passivity observer (PO) and a passivity controller (PC) can be used to maintain contact stability between the end effector 15c and the external environment 20.

A passivity observer (PO) is a method of analyzing the stability of a system through observation of energy changes. This method is characterized in that the sampling rate of the system must be faster than the dynamics of the system, and in the passivity observer, the energy is expressed by the following equation (2).

Figure pat00006

Where DELTA T is the sampling time, f is the contact force in the end effector 15c, and v is the speed of the end effector 15c. E ovsv is the energy generated by force and velocity. If E ovsv (n) ≥0, the robot control system 10 becomes a passive system consuming energy and is always stable. However, if E ovsv (n) <0, the energy -E ovsv May cause undesired movement of the robot control system 10, thereby making the system unstable. The passivity observer (PO) can be used to observe the state change of the energy and determine the stability of the system.

The contact stability is that the robot stably contacts without vibration when it comes into contact with the external environment. However, if the environmental stiffness is high, the reaction speed of the measured force information becomes faster and the reaction speed of the robot system does not follow it, and the system becomes unstable.

In order to overcome this problem, it is possible to use a method of detecting the instability of the system by using the stability determination technique and solving the instability of the system. The conventional stability determination technique can calculate the system parameters for stabilizing the system even if there is rigidity and parameter information for the external environment. On the other hand, in the case of the PO / PC method, the system is always safe in the direction of discriminating the stability of the system from the energy view and dissipating the energy of the calculated system by utilizing the information of the force and the speed of the manipulator, .

The reason why the PO / PC method is not used as the conventional stability determination method is that since the generated energy is removed by using the passive controller so that the system can always be stabilized, the system response speed is slowed by compensating the parameter which is higher than necessary .

The embodiment of the present invention utilizes the characteristics of the PO / PC to stabilize the system regardless of the environmental conditions in order to make stable contact with the environment without stiffness information, The environmental stiffness impedance (k e ) information can be calculated from the measured contact force.

Generally, the time delay caused by the bandwidth difference between the sensor unit 130 and the actuator 15b greatly affects the contact stability of the robot control system. Due to the effect of the time delay, the force measured at the time of contact and the speed of the robot 15 operate in the opposite direction, so that the energy observed in the passivity observer PO becomes negative and generates energy that destabilizes the system. When the passivity controller (PC) knows the exact amount of energy generated, it can dissipate the energy generated over time and keep the system in a passive state.

The robot control system 10 can maintain the system in a passive state by the passivity observer and passivity controller. The robot control system 10 maintains the state where the energy is positive so that the contact stability with the external environment 20 is maintained. This method not only requires no additional information of the robot control system 10 but also robustly controls the impedance control system in any external environment 20. [

The impedance parameter value of the robot 15 optimized for the external environment 20 can be calculated from the value of the environmental stiffness impedance k e calculated by the environmental stiffness calculating unit 140. In particular, the value of the second impedance parameter (b) related to damping can be calculated from the Lyapunov stability theory.

 The behavior of the robot 15 after contact with the external environment 20 is determined by the impedance characteristics. The general impedance equation is shown in Equation 3 below.

Figure pat00007

Where F is the force, x is the displacement, m, b, k are the first impedance parameter, the second impedance parameter, and the third impedance parameter, respectively.

Since the sensor unit 130 is highly affected by noise, a filter is generally used to remove noise. The impedance model and the filter model can be expressed as a transfer function expressed by Equation (4) as the output relationship of the robot control system with respect to the input force. τ is the time constant of the filter.

Figure pat00008

The robot control system may be represented by the following equation (5) in the state space, and expressed as a state matrix on the state space, as shown in Equation (6). Equation (6) can be used as a condition for determining the stability condition.

Figure pat00009

Figure pat00010

From the Lyapunov stability theory, the general scalar equation V of the state matrix x can be expressed as Equation (7) below. The stability determination conditions are as follows.

Figure pat00011

Equation (7) shows that V (x) has a positive value (first condition)

Figure pat00012
Has a negative value (second condition), and V (x) → ∞ as ∥x∥ → ∞ (third condition).

In order to satisfy the first condition, the matrix of Equation (7) must be positive positive arc matrix, so that the opposite sides must have a positive value. The derivative of this equation with respect to time is expressed by Equation (8) below.

Figure pat00013

When the matrix Q of Equation (8) has positive positive arc arrays

Figure pat00014
The resultant value becomes a negative negative arc matrix. Thus, the second condition is satisfied.

Substituting Equation (5) into Equation (8), the following Equation (9) can be obtained.

Figure pat00015

Assume that the matrix Q is a unitary matrix for simplification of calculation, and substitute any of the following matrices P and the matrix A of Equation (10) into Equation (9).

Figure pat00016

Assuming that P 12 = P 21 = P 23 = P 32 = -1, the matrix P is expressed by the following equation (11).

Figure pat00017

The equation for P 11 , P 22 , and P 33 can be expressed by the following equation (12) by substituting the equation (11) into the equation (9).

Figure pat00018

In order for the robot control system 10 to be stable, P 11 , P 22 , and P 33 must have a positive value. Since the first impedance parameter m, the second impedance parameter b, the third impedance parameter k and the environmental stiffness impedance k e are always positive in their characteristics, the robot control system 10 can be stable The condition must satisfy the following expression (13). In order to satisfy the following expression (13), the following expression (14) must be satisfied. Therefore, the second impedance parameter b 'optimized for the external environment 20 can be calculated.

Figure pat00019

Figure pat00020

If only the information on the rigidity of the external environment 20 can be obtained in real time, the optimized second impedance parameter b 'according to the change of the external environment 20 can be calculated.

5 is a flowchart showing a control method of the robot control system of Fig.

The first impedance parameter m, the second impedance parameter b and the third impedance parameter k can be set in the impedance setting unit 110. (S10) If an external user directly inputs The value of each impedance parameter can be set, and the value of each impedance parameter stored in the memory unit (not shown) can be set.

Since the values of the impedance parameters are arbitrary values, stability with the external environment 20 can not be guaranteed. Thus, the robot 15 may become unstable according to the external environment 20. [

In order to obtain information on the rigidity of the external environment 20, the sensor unit 130 controls the force exerted by the robot 15 on the external environment 20 while maintaining contact stability between the robot 15 and the external environment 20 (S20) To ensure the stability of the robot 15 and the external environment 20, the end effector 15c and the external environment 20 can use the PO / PC method.

The environmental stiffness calculating unit 140 may calculate the environmental stiffness impedance k e of the external environment 20 from the force measured by the sensor unit 130. (S30) The external environment 20 and the end effector 15c Are connected in series to satisfy the above-mentioned formula (1). The environmental stiffness impedance k e calculated by Equation (1) is an inherent characteristic of the external environment 20, and can be changed when the external environment 20 is changed.

The impedance calculating unit 150 can calculate the value of the second impedance parameter b 'optimized for the external environment 20 from the equation (14). (S40) That is, the calculated environmental stiffness impedance ke, The second impedance parameter b 'can be calculated by substituting the predetermined first impedance parameter m, the predetermined third impedance parameter k, and the time constant? Of the filter.

The impedance control unit 120 may change the second impedance parameter b to a second impedance parameter b in step S50. The robot 15 changes the environmental stiffness impedance k e (B ') which is optimized for the second impedance parameter b'.

It is possible to determine whether or not the robot 15 is stable. (S60) If the robot 15 is unstable, the environmental rigidity impedance k e of the external environment 20 is calculated again.

Meanwhile, the robot control method according to an embodiment of the present invention shown in FIG. 5 can be implemented as a program that can be executed by a computer and is implemented in a general-purpose digital computer that operates the program using a computer- . The computer-readable recording medium includes a storage medium such as a magnetic storage medium (e.g., ROM, floppy disk, hard disk, etc.), optical reading medium (e.g., CD ROM,

6 and 7 are graphs showing the contact stability between the robot control system 10 and the external environment 20 of FIG.

6 and 7, stability of the robot 15 and the external environment 20 is improved by the passivity observer PO and the passivity controller PC. 6, the robot 15 was contacted to the external environment 20 without applying the PO / PC method, and FIG. 7 was contacted with the external environment 20 by applying the PO / PC method. The x-axis represents the contact time, and the y-axis represents the contact force measured by the sensor unit 130.

Referring to FIG. 6, when the end effector 15c contacts the external environment 20 for the first time, a collision force is generated, and the contact force is not maintained constant even after a lapse of time, and the system becomes unstable.

Referring to FIG. 7, when the end effector 15c contacts the external environment 20 for the first time, a collision force is generated, but the contact force is maintained constant over time. That is, the end effector 15c and the external environment 20 can maintain the contact stability by the PO / PC method.

8 is a graph showing a change in response speed using the control robot system 10 of FIG.

Referring to FIG. 8, it can be seen that the response speed of the robot 15 is improved when the contact stability is maintained by the PO / PC method and the second impedance parameter (b) is changed by the Lyapunov stability theory.

The damping ratio was measured by driving the robot 15 only by the PO / PC method. Also, as in the control method of one embodiment of the present invention, the robot 15 is driven using the second 'impedance parameter b' in the PO / PC method and Lyapunov stability theory, and the damping ratio is measured at this time.

It can be understood that when the robot 15 is driven using the second impedance parameter b 'in accordance with the PO / PC method and the Lyapunov stability theory, the damping ratio is reduced as compared with the case where the robot 15 is driven only by the PO / . That is, the damping ratio of the robot 15 is minimized and the response speed can be improved.

 The robot control system 10, the control method and the computer readable recording medium according to an embodiment of the present invention can secure contact stability for an uncertain external environment 20. [

The robot control system 10, the control method and the computer readable recording medium according to the embodiment of the present invention calculate the environmental stiffness impedance k e of the external environment 20 and use it to damp the robot 15 The second 'impedance parameter b' relating to the second impedance can be calculated and changed to improve the response speed.

The robot control system 10, the control method, and the computer readable recording medium according to the embodiment of the present invention omit the operation of setting the impedance parameters according to the change of the external environment 20, .

Although the present invention has been described in connection with the above-mentioned preferred embodiments, it is possible to make various modifications and variations without departing from the spirit and scope of the invention. Accordingly, it is intended that the appended claims cover all such modifications and variations as fall within the true spirit of the invention.

10: Robot control system
11: Control device
15: Robot
20: External environment
110: Impedance setting unit
120: Impedance control section
130:
140: Environmental stiffness calculating section
150: Impedance calculation unit

Claims (12)

A robot control system for changing a plurality of impedance parameters of a robot,
An impedance setting unit for setting the plurality of impedance parameters;
A sensor unit for measuring a force received from the external environment when the robot is in contact with an external environment;
An environmental stiffness calculating section for calculating an environmental stiffness impedance having information on the stiffness of the external environment from the force; And
And an impedance control unit for changing at least one value of the plurality of impedance parameters corresponding to the environmental stiffness impedance. The method according to claim 1,
Wherein the plurality of impedance parameters comprise:
A second impedance parameter which is a parameter relating to the damping of the robot, and a third impedance parameter which is a parameter relating to the rigidity of the robot, wherein the first impedance parameter is a parameter relating to the mass of the robot, system. 3. The method of claim 2,
Wherein the impedance controller comprises:
Wherein the plurality of impedance parameters are controlled using the following equation.
Figure pat00021

Here, m is a predetermined first impedance parameter, b 'is the calculated second impedance parameter, k is a predetermined third impedance parameter, the time constant of the? k e Represents the calculated environmental stiffness impedance, respectively. The method of claim 3,
Wherein the impedance controller comprises:
And changes the second impedance parameter from a value set by the impedance setting unit to a value calculated by the equation. The method according to claim 1,
The sensor unit includes:
A robot control system in which a force is measured by a passivity observer (PO) and a passivity controller (PC) while the robot is kept in contact with the external environment. 3. The method of claim 2,
The environmental stiffness calculating unit calculates,
Wherein the environmental stiffness impedance is calculated using the following equation.
Figure pat00022

Here, F m is a force received from the external environment, k is a predetermined third impedance parameter, k e is a calculated environmental stiffness impedance, | (x ei -x ev ) | is a state in which the robot is in contact with the external environment Respectively. Setting a first impedance parameter which is a parameter relating to a mass of the robot, a second impedance parameter which is a parameter relating to damping of the robot, and a third impedance parameter which is a parameter relating to the rigidity of the robot;
Contacting the robot with an external environment to measure force from the external environment;
Calculating an environmental stiffness impedance of the external environment from the measured force; And
Calculating the second impedance parameter corresponding to the environmental stiffness impedance; . 8. The method of claim 7,
And changing the second impedance parameter to a value calculated from the set value. 8. The method of claim 7,
Wherein measuring the force from the external environment comprises:
Wherein the force is measured while the robot is kept in contact with the external environment by a passivity observer (PO) and a passivity controller (PC). 8. The method of claim 7,
Wherein changing the second impedance parameter comprises:
And the impedance control unit calculates the second impedance parameter using the following equation.
Figure pat00023

Here, m is a predetermined first impedance parameter, b 'is the calculated second impedance parameter, k is a predetermined third impedance parameter, τ is the time constant of the filter section, and k e represents the calculated environmental stiffness impedance, respectively. 8. The method of claim 7,
Wherein the step of calculating the environmental stiffness impedance comprises:
Wherein the environmental stiffness impedance is calculated using the following equation.
Figure pat00024

Here, F m is a force received from the external environment, k is a predetermined third impedance parameter, k e is a calculated environmental stiffness impedance, | (x ei -x ev ) | is a state in which the robot is in contact with the external environment Respectively. A computer-readable recording medium storing a program for causing a computer to execute the method according to any one of claims 7 to 11.
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KR102156655B1 (en) * 2020-02-11 2020-09-16 주식회사 뉴로메카 Control framework based on dynamic simulation for robot
CN114770500A (en) * 2022-04-02 2022-07-22 苏州艾利特机器人有限公司 Method, system and application for correcting parameters of mechanical arm controller based on impedance mode

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