WO2019039646A1

WO2019039646A1 - Robot control system

Info

Publication number: WO2019039646A1
Application number: PCT/KR2017/010883
Authority: WO
Inventors: 전동수; 조창연
Original assignee: 주식회사 토룩
Priority date: 2017-08-25
Filing date: 2017-09-28
Publication date: 2019-02-28
Also published as: KR102001101B1; KR20190022174A

Abstract

The present invention relates to a robot control system and, more specifically, to a robot control system for controlling the operation of at least one actuator included in a robot, the system comprising: a motion engine for making the actuator carry out a first motion having a predetermined trajectory; and a motion change part having an adaptive response algorithm in which, when an external force is applied to the robot, the external force applied to the robot is sensed and the trajectory of the first motion is changed in response to the external force, wherein the motion of the robot can be changed in response to the external force applied to the robot, thereby implementing a high level of interaction between the robot and an external environment.

Description

Robot control system

The present invention relates to a robot control system, and more particularly, to a robot control system for controlling the operation of the actuator of a robot including at least one actuator, the robot control system being characterized in that the actuator is adapted to perform a first motion with a predetermined locus Motion engine; And an adaptive reaction algorithm that senses an external force applied to the robot and changes a locus of the first motion corresponding to the external force when an external force is applied to the robot, To a robot control system capable of realizing an interaction with a robot in a high level and an external environment.

Recently, interest in robots has increased and many improvements have been made. However, the conventional robot has a limitation only as a mechanism for reproducing a program that has been previously planned and programmed in realizing a motion according to a specific purpose. These limitations, in particular in the case of robots used in the field of services or entertainment, act as an impediment to human interaction. Therefore, it is difficult to achieve the goal of being a human closer to the robot, which is a future robot.

In particular, conventional techniques for contact with humans are limited in their use to the degree of touch-based on / off control in many cases. Further, even when the type of the external contact stimulus is discriminated by using the force sensor, it does not provide an appropriate response according to whether the external stimulus is compliant or not. It is difficult to feel like living creatures when handling robots, and it interferes with the interaction between human and robot.

When remembrance of a living animal, a pet animal, behaves according to a predetermined behavior of a pet, or an action of adapting by changing the trajectory or posture of an action when an external force is applied by a human hand touching the posture.

Therefore, in order to implement a robot that exhibits a motion similar to that of a living creature, it is necessary to provide a control system that senses an external force and changes an operation and a posture in real time according to the sensed external force.

SUMMARY OF THE INVENTION The present invention is conceived to solve the above problems, and it is an object of the present invention to provide a robot control system for controlling the operation of the actuator of a robot including at least one actuator, wherein the actuator performs a first motion having a predetermined locus A motion engine; And an adaptive reaction algorithm that senses an external force applied to the robot and changes a locus of the first motion corresponding to the external force when an external force is applied to the robot, And a robot control system in which the motion of the robot is deformed according to the robot control system, and the interaction between the robot and the external environment at a high level can be realized.

In order to achieve the above object, a robot control system according to the present invention is a robot control system for controlling the operation of the actuator of a robot including at least one actuator, the robot control system comprising: a first motion A motion engine to perform; And an adaptive reaction algorithm that senses an external force applied to the robot and changes the locus of the first motion corresponding to the external force when an external force is applied to the robot.

Preferably, the robot control system includes: a sensor unit for sensing an external force; And an adaptive coefficient determining unit for determining an adaptive coefficient according to a predetermined adaptive coefficient determining algorithm for an external force sensed by the sensor unit, Thereby changing the locus of the first motion.

Preferably, the actuator is constituted by a predetermined rotary actuator, and the compliant reaction algorithm determines an adaptive torque according to the following equation 1-A,

TC = TS x C

(Formula 1-A)

(TC: adaptive torque, TS: external force sensed by the sensor, C: adaptation coefficient)

The amount of change of the first motion is determined according to Equation 1-B below.

?? = (TS-TC) / KS

(Formula 1-B)

(??: change amount of the first motion, KS: stiffness coefficient of the system)

Preferably, the actuator is configured with a predetermined linear actuator, and the compliant reaction algorithm determines a compliance force according to Equation 2-A below,

FC = FS × C

(Formula 2-A)

(FC: adaptive torque, FS: external force sensed by the sensor part, C: adaptation coefficient)

The amount of change of the first motion is determined according to the following equation (2-B).

? SP = (FS-FC) / KA

(Formula 2-B)

(? SP: change amount of the first motion, KA: stiffness coefficient of the system)

The robot control system according to the present invention has a compliant reaction algorithm in which a motion engine that generates a first motion having a predetermined trajectory changes its trajectory of the first motion in accordance with an external force, It is possible to change the trajectory of the first motion and thus to realize the interaction with the external environment with the robot at the higher level.

1 is a block diagram of a robot control system according to the present invention.

FIG. 2 is a diagram showing a change in the locus of motion of the actuator by the robot control system according to the present invention.

3 is a diagram illustrating a relationship between a posture and an external force of the robot by the robot control system according to the present invention.

A robot control system for controlling the operation of an actuator of a robot comprising at least one actuator, the robot comprising: a motion engine for causing the actuator to perform a first motion with a predetermined trajectory; And an adaptive reaction algorithm that senses an external force applied to the robot and changes a locus of the first motion corresponding to the external force when an external force is applied to the robot, The robot's motion is modified in accordance with the robot, and the robot can interact with the external environment at a high level.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. The present embodiments are not intended to be limiting.

A robot control system (1) according to the present invention is a robot control system (1) for controlling the operation of the actuator of a robot including at least one actuator, characterized in that the actuator is adapted to perform a first motion with a predetermined locus A motion engine 100; And an adaptive reaction algorithm for changing the locus of the first motion corresponding to the external force when an external force is applied to the robot.

Here, the motion engine is closer to the concept of a control device having an algorithm for generating an operation command for a predetermined actuator, rather than a concept as an engine as a mechanical device for generating power.

The motion engine 100 generates a predetermined signal so that an actuator provided in the robot performs a first motion having a predetermined trajectory. Accordingly, the motion engine 100 may include a predetermined input unit and a control system. The input unit may be a keypad, a panel, or the like capable of receiving various signals such as various key inputs inputted by a user. The control system may be a predetermined CPU for generating an actuating signal for actuating an actuator provided in the robot by a signal inputted through an input unit. In the control system, contents of various first motions such as the locus of the first motion can be inputted and stored in advance, and the first motion can be performed by the actuator by the signal transmitted by the input unit.

The motion transformer 200 has an adaptive reaction algorithm. The adaptive reaction algorithm alters the locus of the first motion corresponding to the external force when an external force is applied to the robot.

In other words, the adaptive reaction algorithm generates an adaptive motion having a predetermined amount of change that deforms the first motion in response to an external force. The second motion is generated by combining the adaptive motion generated by the external force and the first motion generated by the command input through the input unit, and the actuator operates according to the locus of the second motion.

For example, as shown in FIG. 2, it is assumed that there is a first motion that moves upward in the direction (a). If an external force is applied from the lateral direction as shown in (b), the actuator changes the locus of the first motion according to the direction of the external force by the adaptive reaction algorithm, and the actuator moves according to the changed locus. Then, as shown in (c), when the external force is removed or weakened, a motion of returning to the original trajectory of the first motion is performed, and finally the original trajectory of the first motion is returned as shown in (d).

The robot control system may further include a sensor unit 300 for sensing an external force. The sensor unit 300 can sense an external force applied to the robot. For example, the sensor unit 300 may include any sensor such as a sensor for sensing pressure of various load cells or an optical sensor. Therefore, the term " external force " is not necessarily limited to " force ", but can be understood as a concept encompassing all the influences exerted on the robot in various external environments except for the input signal through the input unit.

In addition, the motion engine 100 determines the adaptation coefficient based on the external force sensed through the sensor unit 300. The adaptation coefficient may be determined by substituting the external force sensed by the sensor unit 300 into a predetermined adaptation coefficient determination algorithm, and the determination of the adaptation coefficient may be performed by the predetermined adaptation coefficient determination unit 400. [

For example, when the external force is sensed through the sensor unit 300, the adaptation determination algorithm included in the adaptation coefficient determination unit 400 determines whether or not the adaptation algorithm is one of the three You can make a choice. For example, when the magnitude of the external force is small, a high adaptation coefficient is given, and when the magnitude of the external force is large, a low adaptation coefficient can be given. According to this, the conformity to the external force is relatively low, so it has a low adaptation coefficient, the conformity has the highest compliance coefficient with the external force, and the adaptation to the external force has the lowest compliance factor .

The adaptive reaction algorithm changes the trajectory of the first motion according to the adaptive coefficient determined in the adaptive coefficient determiner 400. [

For example, when the adaptation coefficient determination unit 400 selects the obstacle, the adaptive reaction algorithm can change the trajectory of the first motion or change it to a very small size. In such a sticking motion, the amount of change of the first motion occurs in a small size, so that the degree of the actuator following the trajectory of the first motion becomes relatively high.

Next, when the adaptive coefficient determiner 400 selects to comply, the trajectory of the first motion generated by the motion engine 100 in response to the external force is deformed to a relatively large extent. Therefore, the degree of follow-up with respect to the original trajectory of the first motion becomes relatively low.

Next, when avoidance is selected in the adaptive coefficient determination unit 400, the trajectory of the first motion can be deformed in the direction opposite to the direction in which the external force comes. Accordingly, the deformed motion is greatly deformed in the trajectory of the first motion, and the degree of follow-up of the trajectory of the first motion may be very low.

As described above, the first motion is generated by selecting one of the motions embedded in the control system by the actuating signal inputted through the input unit, and the adaptive reaction is generated by the external force sensed through the sensor unit 300 A new motion can be generated by the algorithm by modifying the first motion.

The adaptive reaction algorithm of the robot control system 1 according to the present invention will be described in detail as follows.

First, as an example, the case of a rotary drive actuator that performs a predetermined rotation will be described. Accordingly, in the motion engine 100, it is assumed that a predetermined torque is generated so that the actuator generates the first motion of the locus having the rotation angle value of? 1.

When a predetermined external force is sensed by the sensor unit 300, the adaptive torque is calculated according to Equation 1-A as follows.

TC = TS x C

(Formula 1-A)

Here, TC denotes an adaptive torque, and TS denotes an external force measured by the sensor unit 300. C represents the compliance coefficient (compliance coefficient). As described above, the adaptation coefficient can be determined by substituting the measured external force into a predetermined adaptation coefficient determination algorithm. The adaptive coefficient determination algorithm may include, for example, a predetermined emotion engine or the like. That is, when the emotion state of the robot is set to the current emotion state, the adaptation coefficient can be determined so that the compliance degree is increased. When the non-compliance degree is set, the compliance coefficient can be determined so that the compliance degree is decreased.

Subsequently, the adaptive torque is used to derive the amount of motion variation that changes the locus of the first motion according to Equation 2-A below. Δθ is the amount of motion variation, and KS is the elastic modulus of the system.

?? = (TS-TC) / KS

(Formula 2-A)

The locus of the first motion is changed by the amount of change as described above. This expression is expressed by the following expression 3-A. According to Equation 3-A, the finally changed second motion is generated as follows. In Equation 3-A, the magnitude of the second motion is derived in the form of subtracting the amount of motion variation from the magnitude of the first motion, but the form of summing is also possible.

θ2 = θ1 - Δθ = θ1 - (TS-TC) / KS

(Formula 3-A)

This can be applied to a linear drive actuator that performs linear motion, as follows.

First, the actuator generates the first motion according to the setting of the motion engine 100, and the size of the first motion is SP1. The SP1 may be, for example, a predetermined straight line distance.

When a predetermined external force is sensed by the sensor unit 300, the adaptive force is calculated as shown in Equation 1-B below.

FC = FS × C

(Formula 1-B)

Here, FC is a conforming force, and TS represents an external force measured by the sensor unit 300. C represents the compliance coefficient (compliance coefficient). As described above, the adaptation coefficient can be determined by substituting the measured external force into a predetermined adaptation coefficient determination algorithm.

Subsequently, the adaptive force is used to derive the amount of motion variation that changes the trajectory of the second motion according to Equation 2-B below. ΔSP is the amount of motion variation, and KA is the stiffness coefficient of the system.

? SP = (FS-FC) / KA

(Formula 2-B)

The locus of the first motion is changed by the amount of the motion variation as described above. This expression is expressed by the following expression 3-B. According to Equation 3-B, the finally changed second motion is generated as follows. In Equation 3-B, the size of the second motion is derived in the form of subtracting the amount of motion variation from the size of the first motion, but the form of summing is also possible.

SP2 = SP1 -? SP

(Formula 3-B)

In the above description, the torque and the force are separately described. However, the present invention is not limited thereto, and can be applied to any external force.

On the other hand, the first motion by the motion engine 100 is not limited to the one involving movement. In other words, for example, when the first motion by the motion engine 100 is an operation for maintaining a specific posture rather than a movement along a specific trajectory, the posture is maintained. In this case, In accordance with the trajectory. In this case, when an external force is applied to the robot, the adaptive reaction algorithm implements an appropriate response motion according to the external force. That is, the above-described amount of motion variation appears as a reaction motion.

Then, when the external force is removed, it returns to the existing position and maintains the posture. For example, when the user applies an external force to strok the head of the robot in a state where the motion engine 100 takes the first motion such that the robot maintains an arbitrary posture, the adaptive reaction algorithm takes a predetermined motion conforming thereto , And when the external force is removed, it returns to the original position and maintains the predetermined posture according to the first motion, which is the motion of maintaining the existing posture.

An example of this is shown in FIG. First, it is assumed that a downward external force is applied to the head T of the robot as shown in Fig. 3 (a). The motion engine 100 generates the first motion to maintain the attitude, but as the downward external force is sensed, the adaptive reaction algorithm generates a predetermined adaptive motion that moves the actuator locus downward. Accordingly, the head of the robot moves downward.

As shown in FIG. 3 (b), when the direction of the external force changes, the adaptive reaction algorithm alters the locus of the first motion according to the changed external force. 3 (c), when the magnitude of the external force is changed, the second motion engine 200 may detect a change in the magnitude of the external force and reduce or increase the amount of motion variation of the actuator. In this case, the posture maintaining motion by the first motion can be made larger.

3 (d), when the external force is removed, the amount of motion variation by the second motion engine 200 is removed, and the first motion returns to the initial position to maintain the posture.

The robot control system 1 according to the present invention can realize a motion in which the first basic motion is controlled in real time to naturally adapt to the external force.

The robot control system 1 according to the present invention is a robot control system 1 according to the present invention in which the motion engine 100 generating the first motion has an adaptive reaction algorithm so that the adaptive current motion is generated by modifying the first motion according to the external force, It is possible to implement an interaction with the robot in the external environment.

For example, assume a robot that performs a first motion of nodding head by an input signal of a user or the like. The first motion of this type is an operation pre-inputted in the motion engine 100, and is a motion selected by a user's input signal.

In order to perform a nodding operation, the actuators provided at the respective joints of the robot are controlled with a predetermined locus so as to follow the target position according to time. For example, in the neck joint consisting of three joints, when the command is given to look at 45 degrees in 30 seconds from the head in three seconds, the yaw actuator and the pitch actuator of the neck joint follow a short control time unit A motion value to be generated is generated, and control according to the generated motion value is performed.

During the execution of the first motion, it is assumed that the user applies an external force to the head of the robot. If there is no adaptive reaction algorithm such as the present invention, no deformation is applied to the first motion, and thus the robot simply continues to the first motion nodding the head. In this way, in the case of a robot that continuously performs only predetermined motions without proper response to an external force, operations such as adaptation and avoidance can not be implemented and strong opposition to an external force is caused. Therefore, it is impossible to implement an action similar to that of an organism, to implement a robot-human interaction, and to not create an emotional intimacy and bond between robot and human.

On the other hand, according to the present invention, when an external force is applied to the robot while performing the first motion that is input in advance, the trajectory of the first motion is changed in real time in the adaptive reaction algorithm. Therefore, the robot can make an appropriate interaction with the external force.

In addition, the robot control system 1 according to the present invention stores only the data of the first motion without data input for other complex motions other than the first motion, and the reaction to the external force applied in real- By changing the trajectory of the first motion, it is possible to perform immediate reaction motion. In other words, when receiving an external force, it receives the command again and does not follow the motion having the new trajectory but changes the trajectory of the first motion generated in the real time. Therefore, a small amount of calculation is required, . In addition, when the external force is removed, the motion of the first motion can be restored and the first motion can be performed again.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It should be understood that various modifications may be made by those skilled in the art without departing from the spirit and scope of the invention.

Claims

A robot control system for controlling operation of an actuator of a robot including at least one actuator,

A motion engine for causing the actuator to perform a first motion having a predetermined trajectory; And

And an adaptive reaction algorithm that senses an external force applied to the robot and changes the locus of the first motion corresponding to the external force when an external force is applied to the robot.
The method according to claim 1,

The robot control system includes a sensor unit for sensing an external force;

And an adaptive coefficient determiner for determining an adaptive coefficient according to a predetermined adaptive coefficient determination algorithm for an external force sensed by the sensor,

Wherein the adaptive reaction algorithm comprises a robotic control system for changing the trajectory of the first motion according to the adaptive coefficient determined by the adaptive coefficient determiner,
The method of claim 2,

Wherein the actuator comprises a rotary actuator having a predetermined torque value,

The adaptive reaction algorithm comprises:

The adaptive torque is determined according to the following equation 1-A,

TC = TS x C

(Formula 1-A)

(TC: adaptive torque, TS: external force sensed by the sensor, C: adaptation coefficient)

And determines the amount of change of the first motion according to the following expression (2-A).

?? = (TS-TC) / KS

(Formula 2-A)

(??: change amount of the first motion, KS: stiffness coefficient of the system)
The method of claim 2,

The actuator is constituted by a predetermined linear actuator,

The adaptive reaction algorithm comprises:

Determines the compliance force in accordance with Equation 1-B below,

FC = FS × C

(Formula 1-B)

(FC: conforming force, FS: external force detected by the sensor section, C: adaptation coefficient)

Wherein the amount of change of the first motion is determined according to the following equation (2-B).

? SP = (FS-FC) / KA

(Formula 2-B)

(? SP: change amount of the first motion, KA: stiffness coefficient of the system)