WO2020093253A1 - Procédé de commande de mouvement de robot, système de commande et dispositif de stockage - Google Patents

Procédé de commande de mouvement de robot, système de commande et dispositif de stockage Download PDF

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Publication number
WO2020093253A1
WO2020093253A1 PCT/CN2018/114221 CN2018114221W WO2020093253A1 WO 2020093253 A1 WO2020093253 A1 WO 2020093253A1 CN 2018114221 W CN2018114221 W CN 2018114221W WO 2020093253 A1 WO2020093253 A1 WO 2020093253A1
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Prior art keywords
planned
point
motion
end effector
robot
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PCT/CN2018/114221
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English (en)
Chinese (zh)
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张志明
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深圳配天智能技术研究院有限公司
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Priority to CN201880087317.XA priority Critical patent/CN111684380B/zh
Priority to PCT/CN2018/114221 priority patent/WO2020093253A1/fr
Publication of WO2020093253A1 publication Critical patent/WO2020093253A1/fr

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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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the present application relates to the technical field of robot control, in particular to a robot motion control method, a robot motion control system, and a storage device.
  • the trajectory motion of the robot usually refers to the trajectory motion of the end effector of the robot.
  • the trajectory description of the end effector can be divided into two parts: path and posture: the path describes the position of the end effector movement, that is, the position of the tool center (TCP) of the robot, expressed in coordinates, where the tool The center point is the origin of the robot tool coordinate system; the pose describes the direction of the end effector movement, and there are many ways to express it, such as the rotation matrix, Euler angle, and quaternion. If you want to control the end effector of the robot to move according to the desired trajectory, you can use the continuous path (CP) method, where each CP motion is a linear motion.
  • TCP tool center
  • the inventor of the present application discovered in the practice of the prior art that the existing transitional motion planning methods usually only consider the continuous (or continuous) speeds of the CP motion, the transition motion and the CP motion of the rear segment, but not Considering that their postures are continuous (ie, the angular velocity is continuous), therefore, there may be discontinuous postures or angular velocity jumps in the planning of the transitional motion of the formed robot end effector, which affects the robot's motion control performance.
  • the present application provides a robot motion control method, a robot motion control system, and a storage device, which are used to improve the robot motion control performance.
  • a technical solution adopted by the present application is to provide a robot motion control method.
  • the method includes: acquiring a planned trajectory and a planned posture of a first planned motion and a second planned motion of the robot end effector, Wherein, the first planned motion starts at the inflection point and ends at the intermediate point, and the second planned motion starts at the intermediate point and ends at the inflection point; determining the inflection point as the first feature point, A point in the first planned motion and between the inflection point and the intermediate point is determined as a second feature point, which will be in the second planned motion and between the intermediate point and the inflection point A point between the entry points is determined as the third feature point, and the inflection point is determined as the fourth feature point; and according to the planned posture of the robot end effector at the first feature point, in the The planned pose at the second feature point, the planned pose at the third feature point, and the planned pose at the fourth feature point determine the planned pose of the transitional motion of the robot end effector, wherein,
  • a technical solution adopted by the present application is to provide a robot control system, including a processor, which can load program instructions and execute the foregoing robot motion control method.
  • a technical solution adopted by the present application is to provide a device with a storage function, in which program instructions are stored, and the program instructions can be loaded and execute the aforementioned motion control method of the robot.
  • the beneficial effect of the present application is to determine the first to fourth feature points by using the inflection point, the intermediate point and the inflection point on the first and second planned movements of the robot end effector, and execute according to the robot end
  • the posture of the robot at the first feature point, the second feature point, the third feature point and the fourth feature point to determine the planned pose of the robot end effector's transition motion, which can make
  • the angular velocity in is continuous, preventing angular velocity jumps in the transitional motion of the robot end effector. Therefore, the present application facilitates the robot's motion control.
  • FIG. 1 is a schematic flowchart of an embodiment of a robot motion control method of the present application.
  • Fig. 2 shows exemplary trajectories of the first planned movement, the second planned movement and the transitional movement of the robot end effector.
  • FIG. 3 is a schematic flowchart of another embodiment of the robot motion control method of the present application.
  • FIG. 4 is a schematic flowchart of an embodiment of the specific method of step S202 in FIG. 3.
  • FIG. 5 is a schematic flowchart of another embodiment of the robot motion control method of the present application.
  • FIG. 6 is a schematic flowchart of an embodiment of the robot motion control system of the present application.
  • FIG. 1 is a schematic flowchart of an embodiment of a robot motion control method of the present application. As shown, the method includes:
  • S101 Obtain the planning trajectory and planning posture of the first planning motion and the second planning motion of the robot end effector, where the first planning motion starts at the turning point and ends at the intermediate point, and the second planning motion starts at the intermediate point End at the turning point.
  • the robot in this application may be an industrial robot or a life service robot, where the motion of the robot may refer to the overall motion of the robot or the motion of some parts of the robot.
  • the end effector of the robot may be an end part used by the robot to realize its function, such as a holding tool, a grinding tool, or other processing tools.
  • the motion of the end effector is determined by the motion of the robot arm / joint connected to it.
  • the robot control system can control the movement of each robot arm / joint of the robot according to the calculation result, so that the end execution The device moves according to the plan.
  • the tool coordinate system that moves with the end effector can be defined on the end effector (or outside the end effector), and the displacement and posture of the end effector can use the origin position and coordinate axis direction of the tool coordinate system Describe it.
  • the first planned motion and the second planned motion of the robot end effector are linear motions, such as CP motions.
  • the first planned movement and the second planned movement may be two consecutive CP movements of the robot end effector or a part thereof.
  • the inflection point is the starting point of the transitional motion used to smoothly connect the two CP movements.
  • the end effector of the robot turns from the originally planned CP motion trajectory when it moves to the inflection point; similarly, the inflection point It is used to smoothly connect the end point of the transitional motion of these two CP movements. It can be understood that when the robot end effector moves to the turning point, it turns into the originally planned CP movement trajectory.
  • the trajectories of two consecutive CP motions of the robot end effector intersect at the intermediate point. In this embodiment, the first planned motion starts at the inflection point and ends at the intermediate point, and the second planned motion starts at the intermediate point and ends at the inflection point.
  • FIG. 2 shows the planned trajectory AO of the first planned movement of the robot end effector, the planned trajectory OD of the second planned movement, and the planned trajectory AD of the transitional movement, where A is the inflection point , O is the middle point, D is the inflection point.
  • the CP motion of the front end of the robot end effector may include other parts before point A, and the CP motion of the rear end of the robot end effector may include other parts after point D, but this does not affect the technical solution of the present application. , So there is no limit.
  • the robot end effector will not move according to the originally planned first planned motion and second planned motion, so the figure is shown with dotted lines The planned trajectory AO of the first planned motion and the planned trajectory OD of the second planned motion of the robot end effector.
  • the first planned movement and the second planned movement of the robot end effector may be pre-planned.
  • step S101 the planned trajectory and the planned posture of the first planned movement and the second planned movement of the robot end effector are obtained.
  • the planned trajectory represents the relationship between the displacement of the robot end effector and time
  • the planned posture represents the relationship between the attitude of the robot end effector and time. It can be understood that, according to the relationship between the displacement and time of the motion and the relationship between the posture and time, the relationship between the speed / acceleration and angular velocity / angular acceleration of the motion and time can be derived respectively.
  • S102 Determine the inflection point as the first feature point, determine a point in the first planned motion and between the inflection point and the intermediate point as the second feature point, and in the second planned motion and in the intermediate point A point between and the inflection point is determined as the third feature point, and the inflection point is determined as the fourth feature point.
  • the feature points used in the calculation process of the subsequent steps are determined.
  • the first feature point is the inflection point A.
  • the second characteristic point is a point between the inflection point A and the middle point O on the first planned motion AO segment, which is denoted as B.
  • the third feature point is a point between the middle point O and the inflection point D on the OD segment of the second planned motion, denoted as C, and the fourth feature point is the inflection point D.
  • S103 Determine the robot end execution according to the planned posture of the robot end effector at the first feature point, the planned posture at the second feature point, the planned posture at the third feature point, and the planned posture at the fourth feature point The planning posture of the transitional motion of the device, where the transitional motion starts at the inflection point and ends at the inflection point.
  • the planned postures of the robot end effector at the first to fourth feature points are used to determine the planned posture of the transition motion of the robot end effector, so that the planned posture of the transition motion is the
  • the planned posture at the inflection point of the motion is the same, and the planned posture at the inflection point of the second planned motion is the same, and the planning of the robot end effector at the first to fourth feature points during the intermediate process
  • the posture is determined jointly and changes continuously.
  • the motion posture of the robot end effector can be expressed in various ways, such as a rotation matrix, Euler angle, and quaternion. In this embodiment, any motion posture can be used to express the motion of the robot end effector. Planning attitude and planning attitude at the intermediate point.
  • the first planned movement of the robot end effector may be a deceleration movement, and the inflection point is the deceleration start point of the first planned movement, and the intermediate point is the deceleration completion point of the first planned movement.
  • the second planned motion of the robot end effector may be an acceleration motion, and the intermediate point is the acceleration start point of the second planned motion, and the inflection point is the acceleration completion point of the second planned motion. Still taking Fig. 2 as an example, according to the original plan, the end effector of the robot can gradually decelerate in the AO segment, decelerate to zero at point O, and gradually accelerate in the OD segment until acceleration at point D is completed.
  • the deceleration segment in the front CP motion and the acceleration segment in the rear CP motion can be selected as the first One planned movement and the second planned movement, so that the deceleration section and the acceleration section are replaced with transitional movements to connect the other parts of the CP movement in the front section and the CP movement in the rear section. In this way, the repeated start and stop of the driving mechanism is avoided, which is beneficial to the service life of the robot.
  • the second feature point B may be the time-sharing point between the inflection point A and the middle point O on the first planned motion
  • the third feature point C may be the middle on the second planned motion
  • the time between point O and inflection point D is equally divided. That is to say, if the total planned duration of the first planned movement AO segment and the second planned movement OD segment are T1 and T2, respectively, then the planned duration of the AB segment in the first planned movement should be T1 / 2, and the second planning The planned duration of the CD segment in motion should be T2 / 2.
  • the second feature point B may also be the path sharing point between the inflection point A and the middle point O on the first planned motion
  • the third feature point C may be the middle point O and the second planned motion
  • the path between inflection points D is evenly divided. That is to say, if the planned total distances of the first planned movement AO segment and the second planned movement OD segment are S1 and S2, respectively, then the path length of the AB segment in the first planned movement should be S1 / 2, while the second planning The path length of the CD segment in motion should be T2 / 2. Since the first planned movement is decelerating and the second planned movement is accelerated, according to the original first planned movement and second planned movement, the time required to complete sections AB, BO + OC, and CD is relatively close .
  • the second feature point B and the third feature point C may also select other points on the first planned movement and the second planned movement, as long as the planned posture change of the planned movement can be satisfied
  • the speed can be within the driving capacity of the robot's motor.
  • This embodiment determines the first to fourth feature points by using the inflection point, intermediate point, and inflection point on the first planned motion and the second planned motion of the robot end effector, and according to the robot end effector in the first
  • the planned postures at the feature point, the second feature point, the third feature point, and the fourth feature point determine the planned posture of the transition motion of the robot end effector, which can make the angular velocity of the planned end motion of the robot end effector continuous
  • the present application facilitates the robot's motion control.
  • FIG. 3 is a schematic flowchart of another embodiment of the robot motion control method of the present application. As shown, the method includes:
  • S201 Acquire the quaternion of the planned trajectory and the planned posture of the first planned movement and the second planned movement of the robot end effector.
  • the motion posture of the robot end effector is expressed in posture quaternion.
  • Each quaternion is a linear combination of 1, i, j, and k, that is, the quaternion can generally be expressed as a + bk + cj + di, where a, b, c, and d are real numbers.
  • the unit quaternion can represent rotation. If a coordinate system or vector is relative to the axis of rotation Turn angle ⁇ , where, which is The direction cosines between each axis of the fixed coordinate system are cos ⁇ , cos ⁇ , and cos ⁇ . Then the rotation q can be expressed as:
  • quaternions can be used to represent the rotation of points, coordinate systems and vectors. Therefore, in the process of motion control and motion calculation of the robot end effector, the quaternion can be used to represent the posture of the robot end effector (or other parts and axes of the robot).
  • the specific derivation process, the nature of quaternion and the calculation method of quaternion can be participated in relevant materials, and will not be repeated here.
  • step S202 the planned posture quaternion of the robot end effector at the first to fourth feature points is used to determine the planned posture quaternion of the transition motion of the robot end effector, so that the planned posture of the transition motion is four
  • the quaternion at the inflection point is the same as the quaternion of the planned attitude at the inflection point of the first planned movement, and the quaternion of the planned attitude at the inflection point of the second planned movement is the same, and in the middle
  • the planned pose quaternion of the first feature point, the second feature point, the third feature point and the fourth feature point are jointly determined and continuously change.
  • the planned pose quaternion of the transitional motion of the end effector of the robot can be calculated through the steps shown in FIG. 4:
  • S2021 Perform spherical interpolation on the planned pose quaternion of the robot end effector at the first feature point and the planned pose quaternion at the second feature point to obtain a first interpolation function.
  • S2022 Perform spherical interpolation on the planned pose quaternion of the robot end effector at the second feature point and the planned pose quaternion at the third feature point to obtain a second interpolation function.
  • S2023 Perform spherical interpolation on the planned pose quaternion of the robot end effector at the third feature point and the planned pose quaternion at the fourth feature point to obtain a third interpolation function.
  • S2024 Perform spherical interpolation on the first interpolation function and the second interpolation function to obtain a fourth interpolation function.
  • S2025 Perform spherical interpolation on the second interpolation function and the third interpolation function to obtain a fifth interpolation function.
  • S2026 Perform spherical interpolation on the fourth interpolation function and the fifth interpolation function to obtain the planned attitude quaternion of the transition motion of the robot end effector.
  • q 1 (t) and q 2 (t) respectively represent two quaternions or functions of quaternions to be interpolated, a quaternion can also be understood as a vector, therefore, It is the angle between them (specifically, it can be determined according to the calculation method of the vector angle, please refer to the four-element correlation calculation rule).
  • the value of t is 0 to 1, and in this embodiment represents the ratio of the actual exercise duration to the total duration.
  • step S2021 Apply the above formula in step S2021, where q 1 (t) and q 2 (t) are constants, and are the quaternions of the planned posture of the robot end effector at the first feature point and the second feature point, respectively.
  • the first interpolation function Q 1 (t) is.
  • step S2022 Apply the above formula in step S2022, where q 1 (t) and q 2 (t) are constants, which are the quaternions of the planned posture of the robot end effector at the second feature point and the third feature point, respectively.
  • step S2023 the above formula is used, where q 1 (t) and q 2 (t) are constants, which are the quaternions of the planned posture of the robot end effector at the third and fourth feature points, respectively.
  • Three interpolation function Q 3 (t). Apply the above formula in step S2024, where q 1 (t) and q 2 (t) are functions, which are equal to the first interpolation function Q 1 (t) and the second interpolation function Q 2 (t), respectively.
  • Four interpolation function Q 4 (t). Apply the above formula in step S2025, where q 1 (t) and q 2 (t) are functions, which are equal to the second interpolation function Q 2 (t) and the third interpolation function Q 3 (t), respectively.
  • step S2026 Five interpolation function Q 5 (t). Finally, the above formula is used in step S2026, where q 1 (t) and q 2 (t) are functions, which are equal to the fourth interpolation function Q 4 (t) and the fifth interpolation function Q 5 (t), respectively.
  • the function Q 5 (t) of the quaternion of the planned posture of the transition motion of the end effector of the robot is obtained. Wherein the definition corresponding to the interpolation calculation, the value of t is 0 to 1, and if the transitional movement starting time is 0, the total duration T, the actual movement each time t is practical, then the robot end effector function quaternion posture transition planning movement can be written Q 5 (t actual / T).
  • Determining the planned rotation matrix of the transition motion of the robot end effector according to the above method can make the quaternion of the planned posture in the transition motion planning of the robot end effector change continuously (that is, the angular velocity is continuous) to prevent the transition of the robot end effector The angular velocity of the motion jumps. Therefore, this embodiment is advantageous for the motion control of the robot.
  • S203 Use the polygon composed of the first feature point, the second feature point, the third feature point, and the fourth feature point as the control polygon of the Beizer curve, and determine the transition motion of the robot end effector according to the calculation method of the control polygon and the Beizer curve Planning trajectory.
  • the transitional motion of the robotic end effector may be determined according to the planned position of the robotic end effector at the first to fourth characteristic points Planning the trajectory.
  • step S203 the polygon ABCD composed of the planned positions of the first feature point A, the second feature point B, the third feature point C, and the fourth feature point D can be used as the control of the Beizer curve Polygon.
  • the function of the planned trajectory AD of the transitional motion of the robot end effector can be calculated by the following formula:
  • this embodiment represents a long time duration actual movement and total ratio in the present embodiment, may refer to step S202 description on the parameter t to convert it to the actual movement time t real.
  • a to D respectively represent the coordinates of the planned positions of the four feature points.
  • the planned trajectory of the transition motion of the robot end effector calculated by the above formula starts at the first feature point and ends at the fourth feature point, but does not pass through the second feature point and the third feature point, and the function is continuous and Second-order derivable.
  • Determining the planned trajectory of the transitional motion of the robot end effector according to the above method can make the planned position change in the planned transitional motion of the robotic end effector continuous (that is, the speed is continuous), preventing the transitional speed of the robotic end effector from jumping change. Therefore, this embodiment is advantageous for the motion control of the robot.
  • S204 Interpolate the position and posture of the actual motion of the robot end effector at each moment according to the planned trajectory and posture of the transitional motion of the robot end effector.
  • the position and posture of the actual motion of the robot end effector at each moment can be interpolated.
  • the interpolation process is based on planning, calculating several intermediate points of the robot end effector movement process, so as to control the "each step" of the robot end effector movement.
  • the planned trajectory of the transitional motion is a smooth curve, but the actual motion of the robot end effector is a combination of multiple polyline segments close to the curve, where the motion of each segment is calculated by interpolation.
  • the interpolation of the posture of the robot end effector is also similar, that is, the posture of the posture of the robot end effector at each moment in the actual motion is interpolated according to the posture function of the transitional motion of the planned robot end effector.
  • the interpolation interval can be selected according to actual needs and is not limited here.
  • S205 Control the driving mechanism of the robot to act according to the result of interpolation, so that the robot end effector moves according to the planned trajectory and planned posture of the transitional motion.
  • FIG. 5 is a schematic flowchart of another embodiment of the robot motion control method of the present application. As shown, the method includes:
  • S301 Obtain the planned trajectory and planned posture of the first planned movement and the second planned movement of the robot end effector, where the first planned movement starts at the inflection point and ends at the intermediate point, and the second planned movement starts at the intermediate point End at the turning point.
  • S302 Determine a planned trajectory and a planned posture of the transitional motion of the robot end effector.
  • the transitional motion starts at the inflection point and ends at the inflection point.
  • the inflection point is determined as the first feature point
  • a point in the first planned motion and between the inflection point and the intermediate point is determined as the second feature point
  • in the second planned motion and in the intermediate point and A point between the inflection points is determined as the third feature point
  • the inflection point is determined as the fourth feature point
  • the robot end effector's posture is determined according to the planned posture of the robot end effector at the first to fourth feature points Planned posture for smooth transition.
  • FIG. 6 is a schematic structural diagram of an embodiment of a robot motion control system provided by the present application.
  • the robot motion control system 400 includes a communication bus 401, a processor 402, and a memory 403.
  • the processor 402 and the memory 403 are coupled through the communication bus 401.
  • the memory 403 stores program data, and the program data can be loaded by the processor 402 and execute the robot motion control method in any of the above embodiments. Understandably, in some other embodiments, the memory 403 may be disposed in the same physical device with different processors 402, but the method of any of the above embodiments is performed by combining the robot motion control system 400 with a network.
  • the robot motion control system 400 may be a control system built in the robot, or a control system on an external device connected or communicating with the robot.
  • the functions described in the above embodiments are implemented in software and sold or used as independent products, they can be stored in a device with a storage function, that is, the present application also provides a storage device that stores a program.
  • the program data in the storage device can be executed to implement the motion control method of the robot in the above embodiment, and the storage device includes, but is not limited to, a U disk, an optical disk, a server, or a hard disk.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
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Abstract

L'invention concerne un procédé de commande de mouvement de robot, un système de commande et un dispositif de stockage, le procédé comprenant : l'acquisition de trajectoires planifiées et d'orientations planifiées de premier et deuxième mouvements planifiés d'un effecteur terminal de robot, le premier mouvement planifié commençant au niveau d'un point de retournement extérieur et se terminant au niveau d'un point intermédiaire et le deuxième mouvement planifié commençant au niveau du point intermédiaire et se terminant au niveau d'un point de retournement intérieur (S101) ; la détermination du point de retournement extérieur comme étant un premier point caractéristique, la détermination d'un point entre le point de retournement extérieur et le point intermédiaire dans le premier mouvement planifié comme étant un deuxième point caractéristique, la détermination d'un point entre le point intermédiaire et le point de retournement intérieur dans le deuxième mouvement planifié comme étant un troisième point caractéristique et la détermination du point de retournement intérieur comme étant un quatrième point caractéristique (S102) ; et la détermination d'une orientation planifiée d'un mouvement de transition de l'effecteur terminal de robot selon les orientations planifiées de l'effecteur terminal de robot au niveau des premier à quatrième points caractéristiques, le mouvement de transition commençant au point de retournement extérieur et se terminant au point de retournement intérieur (S103).
PCT/CN2018/114221 2018-11-06 2018-11-06 Procédé de commande de mouvement de robot, système de commande et dispositif de stockage WO2020093253A1 (fr)

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CN116000925A (zh) * 2022-12-27 2023-04-25 北京纳通医用机器人科技有限公司 机械臂跟踪方法、装置、设备及存储介质
CN116330286A (zh) * 2023-03-28 2023-06-27 重庆智能机器人研究院 一种通过工业机器人动态轨迹和姿态规划抑制抖动的方法
CN116985136A (zh) * 2023-08-16 2023-11-03 睿尔曼智能科技（北京）有限公司 基于四元数的机械臂节点姿态速度前瞻控制方法及装置

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CN115507857B (zh) * 2022-11-23 2023-03-14 常州唯实智能物联创新中心有限公司 高效机器人运动路径规划方法及系统

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