WO2021068334A1 - Drive-control integrated control system - Google Patents
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Abstract
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Claims (10)
- 一种驱控一体化控制系统,其特征在于,所述驱控一体化控制系统用于控制协作机器人(6),所述驱控一体化控制系统包括:控制模块(1)、智能化动力学参数辩识模块(2)、无传感主动柔顺控制模块(3)、力反馈人机协作防碰撞控制模块(4)和多轴驱动模块(5);A drive and control integrated control system, characterized in that the drive and control integrated control system is used to control a collaborative robot (6), and the drive and control integrated control system includes: a control module (1), intelligent dynamics Parameter identification module (2), sensorless active compliance control module (3), force feedback man-machine cooperation anti-collision control module (4) and multi-axis drive module (5);所述控制模块(1)用于根据预先设置的指令,或/和由所述智能化动力学参数辩识模块(2)、无传感主动柔顺控制模块(3)和力反馈人机协作防碰撞控制模块(4)根据协作机器人(6)的状态所反馈过来的信号,对所述多轴驱动模块(5)进行实时控制,以进一步使所述多轴驱动模块(5)控制协作机器人(6)的运动;The control module (1) is used for pre-set instructions, or/and by the intelligent dynamic parameter identification module (2), the sensorless active compliance control module (3) and the force feedback man-machine cooperation defense The collision control module (4) controls the multi-axis drive module (5) in real time according to the signal fed back from the state of the collaborative robot (6), so that the multi-axis drive module (5) controls the collaborative robot ( 6) Exercise;其中,所述智能化动力学参数辩识模块(2)用于根据协作机器人(6)运动状态向控制模块(1)反馈所述协作机器人(6)的力学参数辩识信号;所述无传感主动柔顺控制模块(3)用于根据协作机器人(6)运动状态向控制模块(1)反馈所述协作机器人(6)的位置信号、力信号和环境信号;所述力反馈人机协作防碰撞控制模块(4)用于根据协作机器人(6)运动状态向控制模块(1)反馈所述协作机器人(6)的安全状态信号。Wherein, the intelligent dynamic parameter identification module (2) is used to feed back the mechanical parameter identification signal of the collaborative robot (6) to the control module (1) according to the motion state of the collaborative robot (6); The sensory active compliance control module (3) is used to feed back the position signal, force signal and environment signal of the collaborative robot (6) to the control module (1) according to the motion state of the collaborative robot (6); the force feedback human-machine cooperation defense The collision control module (4) is used for feeding back the safety state signal of the collaborative robot (6) to the control module (1) according to the motion state of the collaborative robot (6).
- 根据权利要求1所述的驱控一体化控制系统,其特征在于,The drive and control integrated control system according to claim 1, characterized in that:所述智能化动力学参数辩识模块(2)包括:The intelligent dynamic parameter identification module (2) includes:标称模型(21),所述标称模型(21)基于拉格朗日的动力学模型,用于:根据协作机器人(6)运动状态,获取所述协作机器人各连杆上任一点的运动速度,计算所述协作机器人各连杆在运动过程中的动能,以及所述协作机器人运动的总动能;计算所述协作机器人各连杆在运动过程中的位能,以及所述协作机器人运动过程中相对于参考位能面的总位能;根据所述协作机器人总动能和总位能,构造所述协作机器人的拉格朗日函数;对所述拉格朗日函数进行求导运算,以获得所述协作机器人的标称动力学方程式;Nominal model (21), the nominal model (21) is based on Lagrange's dynamics model, and is used to obtain the motion speed of any point on each link of the collaborative robot according to the motion state of the collaborative robot (6) Calculate the kinetic energy of each link of the collaborative robot in the movement process and the total kinetic energy of the movement of the collaborative robot; calculate the potential energy of each link of the collaborative robot in the movement process and the movement process of the collaborative robot The total potential energy relative to the reference potential energy surface; the Lagrangian function of the collaborative robot is constructed according to the total kinetic energy and total potential energy of the collaborative robot; the derivative operation is performed on the Lagrangian function to obtain the total potential energy State the nominal dynamics equation of the collaborative robot;实际动力学模型(22),用于根据预设的参数,得出所述协作机器 人实际动力学模型的实际动力学方程式;The actual dynamics model (22) is used to obtain the actual dynamics equation of the actual dynamics model of the collaborative robot according to preset parameters;参数辨识神经网络(23),用于将所述协作机器人设置为力矩工作模式,在关节力矩最小到最大的范围内选取一段平滑的力矩曲线作为所述协作机器人的输入,利用各个关节的码盘获取各个关节的角位移、角速度及角加速度;在一个采样周期(T)内设定采样时间(t),采取N组包含有力矩、角位移、角速度和角加速度的数据,作为一次训练样本数据;The parameter identification neural network (23) is used to set the collaborative robot to the torque working mode, select a smooth torque curve as the input of the collaborative robot in the range from the minimum to the maximum joint torque, and use the code wheel of each joint Obtain the angular displacement, angular velocity and angular acceleration of each joint; set the sampling time (t) within a sampling period (T), and take N groups of data including torque, angular displacement, angular velocity and angular acceleration as a training sample data ;学习优化模块(24),用于将样本数据中的力矩τ(k)通过所述标称模型得到理论输出值 将力矩τ(k)结合样本中的实际输出值 输入至所述参数辨识神经网络,得到输出修正值 并将所述理论输出值与所述输出修正值结合得到辨识输出值 将实际输出值与所述辨识输出值作差获得输出误差 利用所述输出误差建立所述参数辨识神经网络的损失函数,并对所述参数辨识神经网络进行训练,进而完成动力学模型的修正。 The learning optimization module (24) is used to obtain the theoretical output value of the torque τ(k) in the sample data through the nominal model Combine the torque τ(k) with the actual output value in the sample Input to the parameter identification neural network to obtain the output correction value And combine the theoretical output value with the output correction value to obtain the identification output value Make the difference between the actual output value and the identification output value to obtain the output error The output error is used to establish the loss function of the parameter identification neural network, and the parameter identification neural network is trained to complete the correction of the dynamic model.
- 根据权利要求2所述的驱控一体化控制系统,其特征在于,The drive and control integrated control system according to claim 2, characterized in that:所述标称动力学方程式为:The nominal kinetic equation is:其中,D(q)∈R n×n为对称正定的惯量矩阵; 为哥氏力与离心力矩阵;G(q)∈R n×1为重心项矩阵; q为机械的关节角位移矢量、 为机械臂的角速度矢量以 为机械臂的角加速度矢量;τ∈R n为机械臂各关节控制力矩矢量。 Among them, D(q)∈R n×n is a symmetric positive definite inertia matrix; Is the Coriolis force and centrifugal force matrix; G(q)∈R n×1 is the center of gravity term matrix; q is the mechanical joint angular displacement vector, Is the angular velocity vector of the robotic arm Is the angular acceleration vector of the manipulator; τ∈R n is the control torque vector of each joint of the manipulator.
- 根据权利要求2所述的驱控一体化控制系统,其特征在于,The drive and control integrated control system according to claim 2, characterized in that:所述实际动力学方程式为:The actual dynamic equation is:
- 根据权利要求1所述的驱控一体化控制系统,其特征在于,The drive and control integrated control system according to claim 1, characterized in that:所述无传感主动柔顺控制模块(3)包括位置环(31)、力环(32)和力位混合控制律输出模块(33);The sensorless active compliance control module (3) includes a position loop (31), a force loop (32) and a force position hybrid control law output module (33);其中,所述位置环(31)包括末端位置输入端(311)、位置选择矩阵(312)和位置控制律模块(313);所述末端位置输入端(311)用于输入末端位置信号给所述位置选择矩阵(312),末端位置信号依经过所述位置选择矩阵(312)和所述位置控制律模块(313)处理后的位置信号输入给所述力位混合控制律输出模块(33);Wherein, the position loop (31) includes an end position input terminal (311), a position selection matrix (312) and a position control law module (313); the end position input terminal (311) is used to input an end position signal to the The position selection matrix (312), and the end position signal is input to the force position mixing control law output module (33) according to the position signal processed by the position selection matrix (312) and the position control law module (313) ;其中,所述力环(32)包括末端力输入端(321)、力选择矩阵(322)、力控制律模块(313)和基于电机电流的关节力矩估计模块(324),所述末端力输入端(321)用于输入末端力信号给所述力选择矩阵(322),末端力信号依经过力选择矩阵(322)和力控制律模块(323)处理后的力信号输入给力位混合控制律输出模块(33),所述关节力矩估计模块(324)将关节电机(35)的实时电流反馈给末端力输入端(321);所述力位混合控制律输出模块(33)给关节电机(35)输入力位混合控制律输出信号(G)。Wherein, the force loop (32) includes a terminal force input terminal (321), a force selection matrix (322), a force control law module (313), and a joint torque estimation module (324) based on motor current. The terminal force input The terminal (321) is used to input the terminal force signal to the force selection matrix (322), and the terminal force signal is input to the force position hybrid control law based on the force signal processed by the force selection matrix (322) and the force control law module (323) The output module (33), the joint torque estimation module (324) feeds back the real-time current of the joint motor (35) to the end force input terminal (321); the force position mixed control law output module (33) feeds the joint motor ( 35) Input the output signal of the mixed control law of force and position (G).
- 根据权利要求5所述的驱控一体化控制系统,其特征在于,The drive and control integrated control system according to claim 5, characterized in that:所述无传感主动柔顺控制模块(3)还包括机器人运动学模型(314),所述机器人运动学模型(314)将协作机器人(6)的关节角度和角速度反馈给末端位置输入端(311)。The sensorless active compliance control module (3) also includes a robot kinematics model (314), which feeds back the joint angle and angular velocity of the collaborative robot (6) to the end position input terminal (311). ).
- 根据权利要求5或6所述的驱控一体化控制系统,其特征在于,The drive and control integrated control system according to claim 5 or 6, characterized in that:所述无传感主动柔顺控制模块(3)还包括补偿模块(34),所述补偿模块(34)介于所述力位混合控制律输出模块(33)和所述关节电机(35)之间。The sensorless active compliance control module (3) also includes a compensation module (34), which is interposed between the force-position hybrid control law output module (33) and the joint motor (35). between.
- 根据权利要求5或6所述的驱控一体化控制系统,其特征在于,所述关节力矩估计模块的构造为完整的机器人动力学方程为:The drive and control integrated control system according to claim 5 or 6, wherein the joint torque estimation module is configured as a complete robot dynamics equation:其中M∈R n×n为关节空间惯性矩阵;C∈R n×n为哥氏力和向心力计算矩阵;g∈R n×1为重力项向量;q∈R n×1为驱动关节角度向量;τ∈R n×1为驱动关 节转矩; Among them, M∈R n×n is the joint space inertia matrix; C∈R n×n is the Coriolis force and centripetal force calculation matrix; g∈R n×1 is the gravity term vector; q∈R n×1 is the driving joint angle vector ;Τ∈R n×1 is the driving joint torque;电机转矩τ m驱动的方程式为: The equation driven by the motor torque τ m is:τ=Nτ m; τ=Nτ m ;其中N∈R n×n为每个关节减速比的对角矩阵,设J m为电机转子的惯量;推导过程中,将电机转子处的摩擦项 代入电机转矩模块和关节转矩的关系,得出基于电机电流的关节力矩估计模块,从而得到力检测输出: Where N ∈ R n×n is the diagonal matrix of the reduction ratio of each joint, and J m is the inertia of the motor rotor; in the derivation process, the friction term at the motor rotor Substituting the relationship between the motor torque module and the joint torque, the joint torque estimation module based on the motor current is obtained, and the force detection output is obtained:其中,Ψ(i)=τ m为电机输出力矩与电流之间的映射模块。 Among them, Ψ(i)=τ m is the mapping module between the motor output torque and current.
- 根据权利要求1或2所述的驱控一体化控制系统,其特征在于,The drive and control integrated control system according to claim 1 or 2, characterized in that:所述力反馈人机协作防碰撞检测模块(4)包括:The force feedback human-machine cooperation anti-collision detection module (4) includes:动力学方程建立模块(41),用于在预定机器人平台上,采用D-H参数法建立连杆坐标系,并根据拉格朗日动力学公式建立机器人动力学方程;The dynamic equation establishment module (41) is used to establish the linkage coordinate system by the D-H parameter method on the predetermined robot platform, and establish the robot dynamic equation according to the Lagrangian dynamic formula;碰撞检测算子和扰动观测器建立模块(42),根据所述机器人动力学方程和动量方程,构造基于机器人能量不变的碰撞检测算子和基于广义动量变化量的扰动观测器;Collision detection operator and disturbance observer establishment module (42), according to the robot dynamic equation and momentum equation, construct a collision detection operator based on the invariable robot energy and a disturbance observer based on the generalized momentum change;数据分析模块(43),基于机器人系统电流实时反馈,确定各关节扭矩和碰撞力之间的关系,并给出机器人雅克比矩阵求解方法,并分析其检测碰撞的有效性;The data analysis module (43), based on the real-time feedback of the robot system current, determines the relationship between the torque of each joint and the collision force, and provides a method for solving the Jacobian matrix of the robot, and analyzes its effectiveness in detecting collisions;安全防护策略制订模块(44),基于碰撞检测模型的检测结果,针对不同碰撞情形,结合实际工况,制订不同的安全防护策略;The safety protection strategy formulation module (44), based on the detection results of the collision detection model, formulates different safety protection strategies for different collision situations and combined with actual working conditions;仿真验证及优化模块(45),基于ADAMS-Simulink联合仿真平台对机器人碰撞检测算子的有效性和安全防护策略的合理性进行仿真验证及优化;The simulation verification and optimization module (45), based on the ADAMS-Simulink joint simulation platform, performs simulation verification and optimization on the effectiveness of the robot collision detection operator and the rationality of the safety protection strategy;实际效果验证模块(46),基于预定机器人平台,验证评估基于力反馈的避障防护安全策略实际效果。The actual effect verification module (46), based on the predetermined robot platform, verifies and evaluates the actual effect of the obstacle avoidance protection safety strategy based on force feedback.
- 根据权利要求9所述的驱控一体化控制系统,其特征在于,The drive and control integrated control system according to claim 9, characterized in that:所述力反馈人机协作防碰撞检测模块(4)还包括:The force feedback human-machine cooperation anti-collision detection module (4) further includes:单目双视图立体匹配模块(47),用于构建基于SVS的单目双视图立体匹配模型,在损失函数上优化几何约束条件,通过左右视图合成过程和双视图立体匹配,实现单目图像中检测目标深度的准确估计;The monocular dual-view stereo matching module (47) is used to construct a SVS-based monocular dual-view stereo matching model, optimize geometric constraints on the loss function, and realize the monocular image through the left and right view synthesis process and dual-view stereo matching Accurate estimation of detection target depth;卷积特征提取模块(48),基于单目摄像头采集的RGB图像,采用ResNet模型进行深度卷积特征提取;Convolution feature extraction module (48), based on the RGB image collected by the monocular camera, uses the ResNet model for deep convolution feature extraction;人体骨骼关键点处理模块(49),根据人体骨骼关节几何先验知识及关节间的相关关系,优化双分支深度卷积神经网络结构设计,实现关节点及其关节关联关系的同步处理,其中一分支通过概率热图和偏移量结合的方式进行人体骨骼关键点回归,一分支检测图像中多人的关节关联信息,并通过二分图匹配形成人体骨骼序列数据;The human bone key point processing module (49) optimizes the design of the dual-branch deep convolutional neural network structure based on the prior geometric knowledge of human bone joints and the correlation between the joints, and realizes the synchronization processing of the joint points and their joint relations. One of them The branch uses the combination of probabilistic heat map and offset to perform human bone key point regression. One branch detects the joint information of multiple people in the image, and forms human bone sequence data through bipartite map matching;人体骨架图像数据处理模块(410),用于结合工业人机协作场景特点重构人体骨架图像数据集,并进行关节点数据标注,结合人工调整获得面向工业协作场景的姿态数据集。The human body skeleton image data processing module (410) is used to reconstruct the human body skeleton image data set combined with the characteristics of the industrial human-machine collaboration scene, and perform joint point data annotation, combined with manual adjustment to obtain a posture data set oriented to the industrial collaboration scene.
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CN108582070A (en) * | 2018-04-17 | 2018-09-28 | 上海达野智能科技有限公司 | robot collision detecting system and method, storage medium, operating system |
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