WO2022166330A1 - 位置调整方法、装置、终端设备及可读存储介质 - Google Patents

位置调整方法、装置、终端设备及可读存储介质 Download PDF

Info

Publication number
WO2022166330A1
WO2022166330A1 PCT/CN2021/133000 CN2021133000W WO2022166330A1 WO 2022166330 A1 WO2022166330 A1 WO 2022166330A1 CN 2021133000 W CN2021133000 W CN 2021133000W WO 2022166330 A1 WO2022166330 A1 WO 2022166330A1
Authority
WO
WIPO (PCT)
Prior art keywords
compensation amount
historical
virtual force
planned
implemented
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2021/133000
Other languages
English (en)
French (fr)
Inventor
曾献文
刘益彰
陈金亮
张美辉
熊友军
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ubtech Robotics Corp
Original Assignee
Ubtech Robotics Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ubtech Robotics Corp filed Critical Ubtech Robotics Corp
Publication of WO2022166330A1 publication Critical patent/WO2022166330A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • 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
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • 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
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • 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
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • 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
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle

Definitions

  • the present application relates to the field of robotics, and in particular, to a position adjustment method, apparatus, terminal device, and readable storage medium.
  • the trajectory is generally planned in advance, and then the robot moves according to the planned trajectory.
  • an unexpected obstacle appears in the working path, if the robot still moves according to the planned trajectory, it will inevitably collide with the obstacle, resulting in damage to at least one of the robot and the obstacle. Therefore, how to prevent the robot from colliding with obstacles when operating according to the planned trajectory has become a technical problem that those skilled in the art need to solve urgently.
  • the purpose of this application is to provide a position adjustment method, device, terminal device and readable storage medium, which can generate a virtual force according to the spatial distance between the robot and the obstacle when the robot is at the current actual position, and then control the virtual force based on the admittance control.
  • the position adjustment amount is generated in real time to realize online adjustment of the planned trajectory, so as to avoid collision.
  • an embodiment of the present application provides a method for position adjustment, including:
  • the planned trajectory determine the planned position to be implemented corresponding to the current moment of the robot end, and obtain the distance between the robot end at the current actual position and the obstacle;
  • the planned position to be implemented is adjusted according to the position compensation amount.
  • obtaining the position compensation amount of the to-be-implemented planned position including:
  • the position compensation amount is calculated according to the preset admittance control equation, the historical compensation amount information corresponding to the current actual position, and the virtual force, wherein the historical compensation amount information is based on the current actual position and the The historical planning position corresponding to the current actual position is obtained.
  • the calculation to obtain the position compensation amount according to the preset admittance control equation, the historical compensation amount information corresponding to the current actual position, and the virtual force includes:
  • the position compensation amount is determined to be zero.
  • the historical compensation amount information includes a historical position compensation amount and a historical velocity compensation amount
  • the control equation according to the preset admittance, the historical compensation amount information corresponding to the current actual position, and the virtual force, the position compensation amount is calculated, including:
  • the preset admittance control equation the historical position compensation amount and the historical velocity compensation amount, the acceleration compensation amount of the to-be-implemented planned position is calculated, wherein the preset admittance control equation is:
  • M represents the acceleration compensation amount of the planned position to be implemented
  • B represents the damping matrix of the desired impedance model
  • K represents the stiffness matrix of the desired impedance model
  • t represents the current moment
  • f virtual (t) represents The virtual force
  • X c (tn)-X r (tn) represents the historical position compensation amount corresponding to the current actual position, Indicates the historical speed compensation amount corresponding to the current actual position;
  • the position compensation amount is calculated according to the acceleration compensation amount, the historical position compensation amount, the historical speed compensation amount and the first preset calculation formula, wherein the first preset calculation formula is:
  • ⁇ X(t) represents the position compensation amount
  • ⁇ X(tn) Xc (tn) -Xr (tn)
  • It represents the speed compensation amount information of the planned position to be implemented
  • T represents the time difference between the current time and the historical time tn.
  • the historical compensation amount information includes a historical position compensation amount, and the calculated value is obtained according to the preset admittance control equation, the historical compensation amount information corresponding to the current actual position, and the virtual force.
  • the above position compensation amount including:
  • the speed compensation amount information of the to-be-implemented planned position is calculated, wherein the preset admittance control equation is:
  • the position compensation amount is calculated and obtained, wherein the second preset calculation formula is:
  • ⁇ X(t) represents the position compensation amount
  • ⁇ X(t-n) represents the historical position compensation amount
  • T represents the time difference between the current time and the historical time t-n.
  • the adjusting the planned position to be implemented according to the position compensation amount includes:
  • the position compensation amount at a moment before the virtual force is zero is superimposed to the planned position to be implemented.
  • the determining the virtual force corresponding to the distance includes:
  • the virtual force corresponding to the distance is calculated according to a preset virtual force calculation formula.
  • an embodiment of the present application provides a position adjustment device, including:
  • a distance determination module configured to determine the planned position to be implemented corresponding to the current moment of the robot end according to the planned trajectory, and obtain the distance between the robot end at the current actual position and the obstacle;
  • a virtual force determination module for determining the virtual force corresponding to the distance
  • a calculation module configured to obtain the position compensation amount of the planned position to be implemented according to the preset admittance control equation and the virtual force
  • An adjustment module configured to adjust the planned position to be implemented according to the position compensation amount.
  • an embodiment of the present application provides a terminal device, including a processor and a memory, where the memory stores machine-executable instructions that can be executed by the processor, and the processor can execute the machine-executable instructions In order to realize the position adjustment method described in any one of the foregoing embodiments.
  • an embodiment of the present application provides a readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements the position adjustment method described in any one of the foregoing embodiments.
  • the embodiments of the present application provide a position adjustment method, device, terminal device, and readable storage medium.
  • the planned trajectory the planned position to be implemented corresponding to the robot end at the current moment is determined, and the relationship between the robot end at the current actual position and the actual position of the robot end is obtained.
  • the distance between obstacles and then determine the virtual force corresponding to the distance according to the distance; then according to the preset admittance control equation and the virtual force, obtain the position compensation amount of the planned position to be implemented, and then according to the position compensation amount Adjust the location to be implemented.
  • a virtual force can be generated according to the spatial distance between the actual position of the robot at the current moment and the obstacle, and then the position adjustment amount can be generated in real time based on the virtual force through admittance control, and the planned position corresponding to the current moment can be adjusted online. , so as to avoid subsequent collisions with obstacles.
  • the planned trajectory can be re-planned according to the dynamic relative pose in real time, so as to avoid collision.
  • FIG. 1 is a schematic block diagram of a terminal device provided by an embodiment of the present application.
  • FIG. 2 is a schematic flowchart of a position adjustment method provided by an embodiment of the present application.
  • FIG. 3 is a schematic diagram of obstacle avoidance according to an embodiment of the application.
  • FIG. 4 is a schematic diagram of admittance control based on virtual force provided by an embodiment of the present application.
  • FIG. 5 is another schematic diagram of obstacle avoidance provided by an embodiment of the present application.
  • FIG. 6 is one of the schematic block diagrams of the position adjustment apparatus provided by the embodiment of the present application.
  • FIG. 7 is the second schematic block diagram of the position adjustment apparatus provided by the embodiment of the present application.
  • Icons 100-terminal device; 110-memory; 120-processor; 130-communication unit; 200-position adjustment device; 210-distance determination module; 220-virtual force determination module; 230-calculation module; 240-adjustment module; 250 - Control Module.
  • the distance between the robot and the object in the environment at the current position is dynamically monitored based on the visual equipment, although this method can predict the collision to a certain extent. However, it is only a prediction, and the planned trajectory will not be re-planned according to the dynamic relative pose in real time. Therefore, the collision problem still cannot be solved.
  • the inventor proposes the position adjustment method in the embodiment of the present application, which can re-plan the planned trajectory in real time according to the dynamic relative pose between the current actual position and the obstacle, so as to avoid collision.
  • FIG. 1 is a schematic block diagram of a terminal device 100 according to an embodiment of the present application.
  • the terminal device 100 may be, but not limited to, a computer, a server, or a part of a robot (eg, a control device of a robot).
  • the terminal device 100 includes a memory 110 , a processor 120 and a communication unit 130 .
  • the elements of the memory 110 , the processor 120 and the communication unit 130 are directly or indirectly electrically connected to each other to realize data transmission or interaction.
  • these components can be electrically connected to each other through one or more communication buses or signal lines.
  • the memory 110 is used for storing programs or data.
  • the memory 110 may be, but not limited to, random access memory (Random Access Memory, RAM), read only memory (Read Only Memory, ROM), programmable read only memory (Programmable Read-Only Memory, PROM), or Erasable Read-Only Memory (Erasable Programmable Read-Only Memory, EPROM), Electrical Erasable Programmable Read-Only Memory (EEPROM), etc.
  • RAM Random Access Memory
  • ROM read only memory
  • PROM programmable read only memory
  • EPROM Erasable Programmable Read-Only Memory
  • EEPROM Electrical Erasable Programmable Read-Only Memory
  • the processor 120 is used to read/write data or programs stored in the memory 110, and perform corresponding functions.
  • the memory 110 stores a position adjustment apparatus 200
  • the position adjustment apparatus 200 includes at least one software function module that can be stored in the memory 110 in the form of software or firmware.
  • the processor 120 executes various functional applications and data processing by running the software programs and modules stored in the memory 110, such as the position adjustment device 200 in the embodiment of the present application, that is, the position adjustment in the embodiment of the present application is realized. method.
  • the communication unit 130 is configured to establish a communication connection between the terminal device 100 and other communication terminals through a network, and to send and receive data through the network.
  • FIG. 1 is only a schematic structural diagram of the terminal device 100, and the terminal device 100 may further include more or less components than those shown in FIG. 1, or have different components from those shown in FIG. 1 . Configuration. Each component shown in FIG. 1 may be implemented in hardware, software, or a combination thereof.
  • FIG. 2 is one of the schematic flowcharts of the position adjustment method provided by the embodiment of the present application.
  • the method can be applied to the above-mentioned terminal device 100 .
  • the specific flow of the position adjustment method will be described in detail below.
  • the method may include steps S110 to S140.
  • Step S110 according to the planned trajectory, determine the planned position to be implemented corresponding to the current moment of the robot end, and obtain the distance between the robot end at the current actual position and the obstacle.
  • the planned trajectory represents a pre-planned path, and the path may include multiple pre-planned positions that the robot end should reach in sequence, that is, the path includes multiple planned positions.
  • the robot operates according to the planned trajectory.
  • the planned position corresponding to the end of the robot at the current moment can be determined according to the planned trajectory, and the planned position is used as the planned position to be implemented; that is, the planned to be implemented is in the planned trajectory,
  • the to-be-implemented planning position corresponding to the current moment is the position of the pre-planned robot end at the target future moment, and the target future moment is a certain moment after the current moment.
  • the time difference between the current moment and the target future moment may be one control period or multiple control periods, which may be specifically set according to actual requirements.
  • the robot end can be moved from one position to another. That is to say, according to the planned trajectory, the planned position corresponding to the current moment to be implemented may be the first planned position that the robot end needs to reach immediately, or it may not be the first planned position that the robot end needs to reach immediately. The planned position, but the Nth planned position that needs to be reached next.
  • the distance between the current actual position of the robot end at the current moment and the obstacle can also be obtained.
  • the distance between the robot end and the obstacle can be continuously acquired in real time through a visual device (eg, camera) or other device (eg, radar), so that the distance can be directly obtained when needed.
  • Step S120 determining the virtual force corresponding to the distance.
  • a virtual force may be calculated based on the distance in any manner.
  • Step S130 according to the preset admittance control equation and the virtual force, obtain the position compensation amount of the to-be-implemented planned position.
  • the preset admittance control equation is an equation designed according to the admittance control equation. Wherein, the admittance control equation is:
  • M is the inertia matrix of the desired impedance model
  • B is the damping matrix of the desired impedance model
  • K is the stiffness matrix of the desired impedance model
  • X c is the position vector
  • X r is the desired position vector
  • F represents the actual generalized force of the feedback.
  • the preset admittance control equation can be specifically set according to actual requirements.
  • the preset admittance control equation is set by using the inertia matrix, the damping matrix and the stiffness matrix, which is similar to the above admittance control equation.
  • the calculated virtual force can be substituted into the above equation, so as to calculate a position compensation amount and use it as the position compensation amount corresponding to the planned position to be implemented, and then according to the position compensation amount to implement the position compensation amount. Adjust the planned location.
  • Step S140 Adjust the planned position to be implemented according to the position compensation amount.
  • the planned position to be implemented may be adjusted based on the position compensation amount, and the adjusted planned position to be implemented is used as the target implementation position.
  • the position compensation amount may be added to the planned position to be implemented, and the addition result may be used as the target implementation position.
  • each time the end of the robot reaches a position the above steps S110 to S140 can be executed, so as to adjust the planned position, so as to obtain a target implementation position that can avoid collision, and then based on the target implementation position make a move.
  • a virtual force can be generated according to the spatial distance between the actual position of the robot at the current moment (that is, the current actual position) and the obstacle, and then a position adjustment amount can be generated in real time based on the virtual force through admittance control,
  • the planned position corresponding to the current moment is adjusted online to avoid collision with obstacles at the target future moment.
  • the planned trajectory can be re-planned according to the dynamic relative pose between the robot and the obstacle in real time, so as to avoid collision.
  • the method may further include: controlling the robot end to move to the target implementation position at a future moment of the target.
  • the movement of the robot end may be controlled according to the target implementation position obtained after adjustment, so that the robot end moves to the target implementation position at the future moment of the target, thereby avoiding collision.
  • the robot end is controlled to move according to the target implementation position obtained by adjusting the planned position to be implemented when it is necessary to move according to the planned position to be implemented corresponding to the current moment.
  • the target future time is the next time from the current time, that is, the time difference between the target future time and the current time is one control period.
  • the position compensation amount corresponding to the planned position corresponding to the current moment can be calculated, that is, the position compensation amount corresponding to the planned position that should be reached at the next moment can be calculated, and the calculated position compensation amount can be calculated according to the calculated position compensation amount. Adjust the planned position that should be reached at the next moment, and then control the next movement according to the position obtained after adjustment, so as to reach the adjusted position at the next moment, so as to avoid collision with obstacles.
  • the time difference between the target future moment and the current moment is a plurality of control periods.
  • the position compensation amount corresponding to the planned position that should be reached at a future moment other than the next moment can be calculated, and the planned position that should be reached in the future moment can be adjusted according to the position compensation amount.
  • a certain movement is controlled according to the position obtained after adjustment, so as to reach the adjusted position at the future time, so as to avoid collision with obstacles.
  • a preset safety distance can be preset, and the specific value of the preset safety distance can be set according to actual needs.
  • the virtual force can be obtained by calculating in the following way: judging whether the distance between the robot end and the obstacle at the current actual position is greater than the preset safety distance; if it is greater, determining the virtual force corresponding to the distance. The force is 0; if it is not greater than that, the virtual force corresponding to the distance can be obtained by calculation according to a preset virtual force calculation formula. Wherein, optionally, in the preset virtual force calculation formula, the smaller the distance, the greater the virtual force.
  • the preset virtual force calculation formula can be set according to the actual distance.
  • the working space of the robot can be divided into a safe space and a dangerous space, and the position adjustment method based on admittance control can be a safe space and a dangerous space.
  • the positional control of the space provides a unified framework that maintains stability when switching between the two.
  • the preset virtual force calculation formula is:
  • f virtual represents a virtual force
  • f max represents a preset maximum virtual force
  • d represents the distance between the robot end at the current actual position and the obstacle
  • d safe represents the preset safe distance
  • the historical compensation amount information corresponding to the current actual position where the robot end is located, and the virtual force, the calculated value of the planned position to be implemented can be obtained.
  • Position compensation amount is obtained according to the current actual position of the robot end and the historical planned position corresponding to the current actual position.
  • the current actual position is obtained by adjusting the historical planned position.
  • the adjustment range may or may not be 0, which is determined by the actual situation.
  • the position compensation amount of the to-be-implemented planned position can be calculated by means of the admittance control method in combination with the compensation amount information and the virtual force used at the current position of the robot end.
  • the history corresponding to the current actual position can be set according to actual needs.
  • the compensation amount information for example, is set to 0, so that the position compensation amount is determined based on the set historical compensation amount information.
  • FIG. 3 is a schematic diagram of obstacle avoidance according to an embodiment of the present application.
  • a safety distance can be generated by adjusting the position to avoid obstacles; when the obstacle actively moves away, or the robot moves away from the obstacle along with the movement of the robot. , so that the robot can return to the planned trajectory, that is, continue to move according to the planned position. In this way, after avoiding obstacles, the robot can continue to move according to the original planned position at that moment, so as to continue the operation and ensure the operation effect.
  • the position compensation amount calculated by the virtual force when the virtual force is zero, it can be determined that the position compensation amount calculated by the virtual force is zero, so that the end of the robot can be controlled to run according to the trajectory.
  • the position compensation amount when the virtual force is zero, the position compensation amount can be directly determined to be zero.
  • the corresponding position compensation amount after the period of time is zero, that is, in the case where the virtual force continues to be zero, the position compensation amount can be determined by non- Zero gradually becomes zero.
  • the historical compensation amount information corresponding to the current actual position includes a historical position compensation amount ⁇ X(tn) and a historical speed compensation amount n represents the total duration of at least one control cycle.
  • the historical compensation amount information may include the historical position compensation amount ⁇ X(t-1) and the historical speed compensation amount
  • the acceleration compensation amount of the to-be-implemented planned position can be calculated first according to the preset admittance control equation, the historical position compensation amount and the historical velocity compensation amount.
  • M represents the inertia matrix of the desired impedance model
  • B represents the damping matrix of the desired impedance model
  • K represents the stiffness matrix of the desired impedance model
  • t represents the current moment
  • tn represents the historical moment
  • the time difference between the moment and the current moment is equal to the time difference between the target future moment and the current moment
  • f virtual (t) represents the virtual force at the current moment
  • X c (tn) represents the current actual position
  • X r (tn) represents the current actual position corresponding to The historical planning position, that is, the planning position corresponding to the historical moment
  • X c (tn)-X r (tn) represents the historical position compensation amount corresponding to the current actual position, that is, the current actual position at the current moment and the current actual position.
  • the position compensation amount ⁇ X(tn) between the corresponding historical planning positions Represents the first derivative of the current actual position X c (tn) with respect to time, that is, the speed of the current actual position X c (tn); Represents the first derivative of the historical planning position X r (tn) with respect to time, that is, the speed of the historical planning position X r (tn); Indicates the historical speed compensation amount corresponding to the current actual position
  • the position compensation amount is calculated according to the acceleration compensation amount, the historical position compensation amount, the historical speed compensation amount and the first preset calculation formula.
  • the first preset calculation formula is:
  • ⁇ X(t) represents the position compensation amount
  • ⁇ X(tn) Xc (tn) -Xr (tn)
  • It represents the speed compensation amount information of the planned position to be implemented
  • T represents the time difference between the current time and the historical time tn.
  • the target execution position X c (t) can be obtained based on the position compensation amount and the planned position X r (t) to be executed.
  • the commanded joint angle corresponding to the target implementation position X c (t) can be obtained through the inverse kinematics solution IK of the manipulator.
  • the servo system can be controlled according to the commanded joint angle, so that the robot end moves to the target implementation position at the target future time.
  • X c represents the actual position (or commanded position)
  • X r represents the planned position.
  • FIG. 5 is another schematic diagram of obstacle avoidance provided by an embodiment of the present application.
  • a safety distance can be generated by adjusting the position to avoid obstacles, and the safety distance can be maintained in the subsequent trajectory. This ensures the safety of the robot.
  • the position compensation amount at the moment before the virtual force is zero may be used as the position compensation amount corresponding to the planned position to be implemented at the current moment, and the virtual force The position compensation amount at the moment before zero is superimposed on the to-be-implemented planning position, so as to realize the adjustment of the implemented planning position.
  • the virtual force can be The position compensation amount before the disappearance is superimposed on each subsequent planned position in the planned trajectory, so that after the virtual force disappears, the gap between each subsequent planned position in the planned trajectory and the corresponding adjusted planned position
  • the position compensation amount before disappearing is the position compensation amount before disappearing.
  • the planned trajectory includes planned positions A1, A2, A3, and A4 in turn. If the virtual force determined when calculating the planned position A1 is not 0, a non-zero position compensation amount can be calculated for the planned position 1; If the virtual forces determined later are all 0, the position compensation amounts corresponding to the planned position A1 may be superimposed on the planned positions A2 to A4 respectively.
  • the historical compensation amount information may include a historical position compensation amount.
  • the velocity compensation amount information of the to-be-implemented planned position can be calculated first according to the preset admittance control equation and the virtual force.
  • the preset admittance control equation is:
  • the position compensation amount is calculated according to the speed compensation amount information, the historical position compensation amount and the second preset calculation formula.
  • the second preset calculation formula is:
  • ⁇ X(t) represents the position compensation amount
  • ⁇ X(t-n) represents the historical position compensation amount
  • T represents the time difference between the current time and the historical time t-n.
  • the virtual force f virtual makes the admittance control method generate the position compensation amount ⁇ X, and when f virtual returns to 0, the change speed of the position compensation amount is set to 0, that is, the position compensation amount ⁇ X is maintained in the subsequent trajectory of the robot .
  • the position adjustment apparatus 200 may adopt the components of the terminal device 100 shown in FIG. 1 above. structure.
  • FIG. 6 is one of the schematic block diagrams of the position adjustment apparatus 200 provided by the embodiment of the present application. It should be noted that the basic principle and the technical effects of the position adjustment device 200 provided in this embodiment are the same as those of the above-mentioned embodiments. For the sake of brief description, for the parts not mentioned in this embodiment, reference may be made to the above-mentioned embodiments. corresponding content.
  • the position adjustment device 200 may include: a distance determination module 210 , a virtual force determination module 220 , and a calculation module 230 .
  • the distance determination module 210 is configured to determine the planned position to be implemented corresponding to the current moment of the robot end according to the planned trajectory, and obtain the distance between the robot end at the current actual position and the obstacle.
  • the virtual force determination module 220 is configured to determine the virtual force corresponding to the distance.
  • the calculation module 230 is configured to obtain the position compensation amount of the to-be-implemented planned position according to the preset admittance control equation and the virtual force.
  • the adjustment module 240 is configured to adjust the planned position to be implemented according to the position compensation amount.
  • the calculation module 230 is specifically configured to: the obtaining the position compensation amount of the to-be-implemented planned position according to the preset admittance control equation and the virtual force, including: according to the preset admittance control equation and the virtual force.
  • the preset admittance control equation, the historical compensation amount information corresponding to the current actual position and the virtual force are used to calculate the position compensation amount, wherein the historical compensation amount information is based on the current actual position and the current actual position.
  • the historical planning position corresponding to the position is obtained.
  • the calculation module 230 is specifically configured to determine that the position compensation amount is zero when the virtual force is zero.
  • the historical compensation amount information includes a historical position compensation amount and a historical speed compensation amount
  • the calculation module 230 is specifically used for:
  • the preset admittance control equation the historical position compensation amount and the historical velocity compensation amount, the acceleration compensation amount of the to-be-implemented planned position is calculated, wherein the preset admittance control equation is:
  • M represents the acceleration compensation amount of the planned position to be implemented
  • B represents the damping matrix of the desired impedance model
  • K represents the stiffness matrix of the desired impedance model
  • t represents the current moment
  • f virtual (t) represents The virtual force
  • X c (tn)-X r (tn) represents the historical position compensation amount corresponding to the current actual position, Indicates the historical speed compensation amount corresponding to the current actual position;
  • the position compensation amount is calculated according to the acceleration compensation amount, the historical position compensation amount, the historical speed compensation amount and the first preset calculation formula, wherein the first preset calculation formula is:
  • ⁇ X(t) represents the position compensation amount
  • ⁇ X(tn) Xc (tn) -Xr (tn)
  • It represents the speed compensation amount information of the planned position to be implemented
  • T represents the time difference between the current time and the historical time tn.
  • the historical compensation amount information includes a historical position compensation amount
  • the calculation module 230 is specifically configured to:
  • the speed compensation amount information of the to-be-implemented planned position is calculated, wherein the preset admittance control equation is:
  • the position compensation amount is calculated and obtained, wherein the second preset calculation formula is:
  • ⁇ X(t) represents the position compensation amount
  • ⁇ X(t-n) represents the historical position compensation amount
  • T represents the time difference between the current time and the historical time t-n.
  • the adjustment module 240 is specifically configured to superimpose the position compensation amount at a moment before the virtual force is zero to the planned position to be implemented when the virtual force is zero.
  • the virtual force determination module 220 is specifically configured to: when the distance is greater than a preset safety distance, determine that the virtual force corresponding to the distance is 0; When the distance is greater than the preset safety distance, the virtual force corresponding to the distance is calculated according to the preset virtual force calculation formula.
  • FIG. 7 is a second schematic block diagram of a position adjustment apparatus 200 provided by an embodiment of the present application.
  • the position adjustment device 200 may further include a control module 250 .
  • the control module 250 is configured to control the robot end to move to the target implementation position at the target future moment.
  • the above-mentioned modules may be stored in the memory 110 shown in FIG. 1 in the form of software or firmware (Firmware) or solidified in the operating system (Operating System, OS) of the terminal device 100, and can be stored by the processor in FIG. 1 . 120 execute. Meanwhile, data required to execute the above-mentioned modules, codes of programs, and the like may be stored in the memory 110 .
  • the embodiments of the present application further provide a readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the position adjustment method is implemented.
  • the embodiments of the present application provide a position adjustment method, device, terminal device, and readable storage medium.
  • the distance between the current actual position and the obstacle, and then the virtual force corresponding to the distance is determined according to the distance; then the position compensation amount of the planned position to be implemented is obtained according to the preset admittance control equation and the virtual force, and then Adjust the position to be implemented according to the position compensation amount.
  • a virtual force can be generated according to the spatial distance between the actual position of the robot at the current moment and the obstacle, and then the position adjustment amount can be generated in real time based on the virtual force through admittance control, and the planned position corresponding to the current moment can be adjusted online. , so as to avoid subsequent collisions with obstacles.
  • the planned trajectory can be re-planned according to the dynamic relative pose in real time, so as to avoid collision.
  • each block in the flowchart or block diagrams may represent a module, segment, or portion of code that contains one or more functions for implementing the specified logical function(s) executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures.
  • each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations can be implemented in dedicated hardware-based systems that perform the specified functions or actions , or can be implemented in a combination of dedicated hardware and computer instructions.
  • each functional module in each embodiment of the present application may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.
  • the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium.
  • the technical solution of the present application can be embodied in the form of a software product in essence, or the part that contributes to the prior art or the part of the technical solution.
  • the computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage medium includes: U disk, mobile hard disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes .

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Feedback Control In General (AREA)
  • Manipulator (AREA)

Abstract

一种位置调整方法、装置、终端设备及可读存储介质，涉及机器人技术领域。该方法包括：根据规划轨迹，确定机器人末端当前时刻所对应的待实施规划位置，并获得机器人末端在当前实际位置时与障碍物之间的距离（S110）；确定距离对应的虚拟力（S120）；根据预设导纳控制方程及虚拟力，获得待实施规划位置的位置补偿量（S130）；根据位置补偿量对待实施规划位置进行调整（S140）。由此，可根据机器人在当前实际位置时与障碍物的空间距离产生虚拟力，进而通过导纳控制基于该虚拟力实时地产生位置调整量，并对当前时刻所对应的规划位置进行调整，从而实现对规划轨迹的在线调整，避免碰撞。

Description

位置调整方法、装置、终端设备及可读存储介质
相关申请的交叉引用
本申请要求于2021年02月05日提交中国专利局的申请号为2021101645600、名称为“位置调整方法、装置、终端设备及可读存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及机器人技术领域，具体而言，涉及一种位置调整方法、装置、终端设备及可读存储介质。
背景技术
目前一般是提前规划好轨迹，然后机器人按照规划轨迹进行运动作业。然而，当工作路径中出现意外的障碍物时，若机器人仍然按照规划轨迹运动，则不可避免地会与障碍物发生碰撞，导致机器人、障碍物中的至少任一个受到损伤。因此，如何避免机器人在根据规划轨迹进行作业时与障碍物发生碰撞，已成为本领域技术人员亟需解决的技术问题。
申请内容
本申请的目的在于提供一种位置调整方法、装置、终端设备和可读存储介质，其能够根据机器人在当前实际位置时与障碍物的空间距离产生虚拟力，进而通过导纳控制基于该虚拟力实时地产生位置调整量，以对规划轨迹实现在线调整，从而避免碰撞。
为了实现上述目的，本申请实施例采用的技术方案如下：
第一方面，本申请实施例提供一种位置调整方法，包括：
根据规划轨迹，确定机器人末端当前时刻所对应的待实施规划位置，并获得所述机器人末端在当前实际位置时与障碍物之间的距离；
确定所述距离对应的虚拟力；
根据预设导纳控制方程及所述虚拟力，获得所述待实施规划位置的位置补偿量；
根据所述位置补偿量对所述待实施规划位置进行调整。
在可选的实施方式中，所述根据预设导纳控制方程及所述虚拟力，获得所述待实施 规划位置的位置补偿量，包括：
根据所述预设导纳控制方程、所述当前实际位置对应的历史补偿量信息及虚拟力，计算得到所述位置补偿量，其中，所述历史补偿量信息根据所述当前实际位置及所述当前实际位置对应的历史规划位置得到。
在可选的实施方式中，所述根据所述预设导纳控制方程、所述当前实际位置对应的历史补偿量信息及虚拟力，计算得到所述位置补偿量，包括：
在所述虚拟力为零时，确定所述位置补偿量为零。
在可选的实施方式中，所述历史补偿量信息包括历史位置补偿量及历史速度补偿量，所述根据所述预设导纳控制方程、所述当前实际位置对应的历史补偿量信息及虚拟力，计算得到所述位置补偿量，包括：
根据所述预设导纳控制方程、所述历史位置补偿量及历史速度补偿量，计算得所述待实施规划位置的加速度补偿量，其中，所述预设导纳控制方程为：
Figure PCTCN2021133000-appb-000001
其中，
Figure PCTCN2021133000-appb-000002
表示所述待实施规划位置的加速度补偿量，M表示期望阻抗模型的惯性矩阵，B表示期望阻抗模型的阻尼矩阵，K表示期望阻抗模型的刚度矩阵，t表示当前时刻，f virtual(t)表示所述虚拟力，X c(t-n)-X r(t-n)表示所述当前实际位置所对应的历史位置补偿量，
Figure PCTCN2021133000-appb-000003
表示所述当前实际位置所对应的历史速度补偿量；
根据所述加速度补偿量、历史位置补偿量及历史速度补偿量以及第一预设计算公式，计算得到所述位置补偿量，其中，所述第一预设计算公式为：
Figure PCTCN2021133000-appb-000004
Figure PCTCN2021133000-appb-000005
其中，ΔX(t)表示所述位置补偿量，
Figure PCTCN2021133000-appb-000006
ΔX(t-n)＝X c(t-n)-X r(t-n)，
Figure PCTCN2021133000-appb-000007
表示所述待实施规划位置的速度补偿量信息，T表示当前时刻与历史时刻t-n的时间差。
在可选的实施方式中，所述历史补偿量信息包括历史位置补偿量，所述根据所述预设导纳控制方程、所述当前实际位置对应的历史补偿量信息及虚拟力，计算得到所述位置补偿量，包括：
根据所述预设导纳控制方程及所述虚拟力，计算得所述待实施规划位置的速度补偿量信息，其中，所述预设导纳控制方程为：
Figure PCTCN2021133000-appb-000008
其中，
Figure PCTCN2021133000-appb-000009
表示所述待实施规划位置的速度补偿量信息，B表示期望阻抗模型的阻尼矩阵，t表示当前时刻，f virtual(t)表示虚拟力；
根据所述速度补偿量信息、历史位置补偿量及第二预设计算公式，计算得到所述位置补偿量，其中，所述第二预设计算公式为：
Figure PCTCN2021133000-appb-000010
其中，ΔX(t)表示所述位置补偿量，ΔX(t-n)表示历史位置补偿量，T表示当前时刻与历史时刻t-n的时间差。
在可选的实施方式中，所述根据所述位置补偿量对所述待实施规划位置进行调整，包括：
在所述虚拟力为零时，将所述虚拟力为零前一时刻的位置补偿量叠加至所述待实施规划位置。
在可选的实施方式中，所述确定所述距离对应的虚拟力，包括：
在所述距离大于预设安全距离的情况下，确定所述距离对应的虚拟力为0；
在所述距离不大于所述预设安全距离的情况下，根据预设虚拟力计算公式计算得到所述距离对应的虚拟力。
第二方面，本申请实施例提供一种位置调整装置，包括：
距离确定模块，用于根据规划轨迹，确定机器人末端当前时刻所对应的待实施规划位置，并获得所述机器人末端在当前实际位置时与障碍物之间的距离；
虚拟力确定模块，用于确定所述距离对应的虚拟力；
计算模块，用于根据预设导纳控制方程及所述虚拟力，获得所述待实施规划位置的位置补偿量；
调整模块，用于根据所述位置补偿量对所述待实施规划位置进行调整。
第三方面，本申请实施例提供一种终端设备，包括处理器和存储器，所述存储器存储有能够被所述处理器执行的机器可执行指令，所述处理器可执行所述机器可执行指令以实现前述实施方式中任意一项所述的位置调整方法。
第四方面，本申请实施例提供一种可读存储介质，其上存储有计算机程序，所述计 算机程序被处理器执行时实现如前述实施方式中任意一项所述的位置调整方法。
本申请实施例提供一种位置调整方法、装置、终端设备及可读存储介质，根据规划轨迹，确定机器人末端在当前时刻所对应的待实施规划位置，并获得该机器人末端在当前实际位置时与障碍物之间的距离，进而根据该距离确定出该距离所对应的虚拟力；然后根据预设导纳控制方程及该虚拟力，获得待实施规划位置的位置补偿量，接着根据该位置补偿量对待实施规划位置进行调整。由此，可根据机器人在当前时刻所在的实际位置与障碍物的空间距离产生虚拟力，进而通过导纳控制基于该虚拟力实时地产生位置调整量，对当前时刻所对应的规划位置进行在线调整，从而避免后续与障碍物发生碰撞。本申请实施例可实时根据动态的相对位姿，对规划轨迹进行重新规划，从而避免碰撞。
附图说明
为了更清楚地说明本申请实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本申请的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。
图1为本申请实施例提供的终端设备的方框示意图；
图2为本申请实施例提供的位置调整方法的流程示意图；
图3为本申请实施例的一种避障示意图；
图4为本申请实施例提供的基于虚拟力的导纳控制示意图；
图5为本申请实施例提供的另一种避障示意图；
图6为本申请实施例提供的位置调整装置的方框示意图之一；
图7为本申请实施例提供的位置调整装置的方框示意图之二。
图标：100-终端设备；110-存储器；120-处理器；130-通信单元；200-位置调整装置；210-距离确定模块；220-虚拟力确定模块；230-计算模块；240-调整模块；250-控制模块。
具体实施方式
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。通常在此处附图中描述和示出的本申请实施例的组件可以以各种不同的配置来布置和设计。
因此，以下对在附图中提供的本申请的实施例的详细描述并非旨在限制要求保护的 本申请的范围，而是仅仅表示本申请的选定实施例。基于本申请的实施例，本领域技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都属于本申请保护的范围。
需要说明的是，术语“第一”和“第二”等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
下面结合附图，对本申请的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
当前会基于视觉设备动态监测机器人在当前位置时与环境中物体的距离，该方式虽然能够一定程度上对碰撞进行预知。但也仅仅只是预知，并不会实时根据动态的相对位姿对规划好的轨迹进行重新规划，因此，碰撞问题依旧得不到解决。
因此，发明人提出了本申请实施例中的位置调整方法，可实时根据当前所在的实际位置与障碍物之间的动态的相对位姿，对规划轨迹进行重新规划，从而避免碰撞。
下面结合附图对本申请实施例进行详细的说明。
请参照图1，图1为本申请实施例提供的终端设备100的方框示意图。所述终端设备100可以是，但不限于，电脑、服务器或者机器人的一部分等(比如，机器人的控制设备)。所述终端设备100包括存储器110、处理器120及通信单元130。所述存储器110、处理器120以及通信单元130各元件相互之间直接或间接地电性连接，以实现数据的传输或交互。例如，这些元件相互之间可通过一条或多条通讯总线或信号线实现电性连接。
其中，存储器110用于存储程序或者数据。所述存储器110可以是，但不限于，随机存取存储器(Random Access Memory，RAM)，只读存储器(Read Only Memory，ROM)，可编程只读存储器(Programmable Read-Only Memory，PROM)，可擦除只读存储器(Erasable Programmable Read-Only Memory，EPROM)，电可擦除只读存储器(Electric Erasable Programmable Read-Only Memory，EEPROM)等。
处理器120用于读/写存储器110中存储的数据或程序，并执行相应地功能。比如， 存储器110中存储有位置调整装置200，所述位置调整装置200包括至少一个可以软件或固件(firmware)的形式存储于所述存储器110中的软件功能模块。所述处理器120通过运行存储在存储器110内的软件程序以及模块，如本申请实施例中的位置调整装置200，从而执行各种功能应用以及数据处理，即实现本申请实施例中的位置调整方法。
通信单元130用于通过网络建立所述终端设备100与其它通信终端之间的通信连接，并用于通过所述网络收发数据。
应当理解的是，图1所示的结构仅为终端设备100的结构示意图，所述终端设备100还可包括比图1中所示更多或者更少的组件，或者具有与图1所示不同的配置。图1中所示的各组件可以采用硬件、软件或其组合实现。
请参照图2，图2为本申请实施例提供的位置调整方法的流程示意图之一。所述方法可应用于上述终端设备100。下面对位置调整方法的具体流程进行详细阐述。所述方法可以包括步骤S110～步骤S140。
步骤S110，根据规划轨迹，确定机器人末端当前时刻所对应的待实施规划位置，并获得所述机器人末端在当前实际位置时与障碍物之间的距离。
所述规划轨迹表示预先规划好的路径，该路径中可以包括多个预先规划好的机器人末端应该依次到达的位置，也即该路径中包括多个规划位置。机器人按照所述规划轨迹进行作业。在当前时刻，可根据所述规划轨迹，确定机器人末端在当前时刻所对应的规划位置，并将该规划位置作为待实施规划位置；也即，所述待实施规划为在所述规划轨迹中，所述机器人末端当前时刻对应的规划位置。当前时刻所对应的待实施规划位置，为预先规划好的机器人末端在目标未来时刻所在的位置，目标未来时刻为当前时刻之后的某个时刻。
可选地，所述当前时刻与所述目标未来时刻之间的时间差可以是一个控制周期，也可以是多个控制周期，具体可根据实际需求设置。其中，通过一个控制周期，机器人末端可由一个位置移动到另一个位置。也就是说，按照所述规划轨迹，当前时刻所对应的待实施规划位置，可以是机器人末端接下来需要马上到达的第一个规划位置；也可以不是机器人末端接下来需要马上到达的第一个规划位置，而是接下来需要达到的第N个规划位置。
在本实施例中，还可以获得所述机器人末端在当前时刻所在的当前实际位置时，与障碍物之间的距离。可选地，可以通过视觉设备(比如，相机)或者其他设备(比如， 雷达)持续实时获取机器人末端与障碍物之间的距离，从而在需要时，直接得到所述距离。
步骤S120，确定所述距离对应的虚拟力。
在获得所述距离的情况下，可通过任意的方式基于所述距离，计算得到一个虚拟力。
步骤S130，根据预设导纳控制方程及所述虚拟力，获得所述待实施规划位置的位置补偿量。
所述预设导纳控制方程为根据导纳控制方程设计的方程。其中，所述导纳控制方程为：
Figure PCTCN2021133000-appb-000011
其中，M表示期望阻抗模型的惯性矩阵，B表示期望阻抗模型的阻尼矩阵，K表示期望阻抗模型的刚度矩阵；X c表示位置向量；X r表示期望位置向量；
Figure PCTCN2021133000-appb-000012
表示位置向量X c关于时间的一阶导数；
Figure PCTCN2021133000-appb-000013
表示期望位置向量X r关于时间的一阶导数；
Figure PCTCN2021133000-appb-000014
表示位置向量X c关于时间的二阶导数；
Figure PCTCN2021133000-appb-000015
表示期望位置向量X r关于时间的二阶导数；F表示反馈的实际广义力。ΔX＝X c-X r表示位置补偿量。
所述预设导纳控制方程具体可以根据实际需求进行设置。比如，使用惯性矩阵、阻尼矩阵及刚度矩阵设置所述预设导纳控制方程，也即与上述导纳控制方程相似。可将计算得到的所述虚拟力代入上述方程中，以便计算出一个位置补偿量，并将其作为所述待实施规划位置所对应的位置补偿量，进而根据该位置补偿量对所述待实施规划位置进行调整。
步骤S140，根据所述位置补偿量对所述待实施规划位置进行调整。
在获得所述待实施规划位置所对应的所述位置补偿量的情况下，可基于该位置补偿量对该待实施规划位置进行调整，并将调整后的待实施规划位置作为目标实施位置。比如，可将所述位置补偿量与所述待实施规划位置相加，并将相加结果作为所述目标实施位置。
在本实施例中，每当所述机器人末端到达一个位置后，即可执行上述步骤S110～步骤S140，从而对规划位置进行调整，以便得到能够避免碰撞的目标实施位置，进而基于该目标实施位置进行移动。
本申请实施例可根据机器人在当前时刻所在的实际位置(即当前实际位置)时与障碍物之间的空间距离，产生虚拟力，进而通过导纳控制基于该虚拟力实时地产生位置调 整量，对当前时刻对应的规划位置进行在线调整，从而避免在目标未来时刻与障碍物发生碰撞。由此，可实时根据动态的机器人与障碍物之间的相对位姿，对规划轨迹进行重新规划，从而避免碰撞。
可选地，在确定所述目标实施位置之后，所述方法还可以包括：控制所述机器人末端在目标未来时刻移动至所述目标实施位置。
可根据调整后得到的目标实施位置控制所述机器人末端的移动，使得所述机器人末端在所述目标未来时刻移动至所述目标实施位置，从而避免发生碰撞。当然可以理解的是，在需要根据当前时刻对应的待实施规划位置进行移动的情况下，才根据通过对待实施规划位置进行调整得到的目标实施位置，控制所述机器人末端进行移动。
作为一种可选的实施方式，所述目标未来时刻为当前时刻的下一时刻，也即，所述目标未来时刻与当前时刻的时间差为一个控制周期。由此，每到达一个位置后，即可计算当前时刻所对应的规划位置对应的位置补偿量，也即计算下一时刻应该到达的规划位置所对应的位置补偿量，并根据计算出的位置补偿量对下一时刻应该到达的规划位置进行调整，进而根据调整后得到的位置控制下一次的移动，以在下一时刻到达调整后的位置，从而避免与障碍物发生碰撞。
作为另一种可选的实施方式，所述目标未来时刻与当前时刻的时间差为多个控制周期。由此，每到达一个位置后，即可计算某个非下一时刻的未来时刻应该到达的规划位置所对应的位置补偿量，并根据位置补偿量对该未来时刻应该到达的规划位置进行调整，进而在需要时根据调整后得到的位置控制某次的移动，以在该未来时刻到达调整后的位置，从而避免与障碍物发生碰撞。
可选地，可预先设置一个预设安全距离，所述预设安全距离的具体值可以根据实际需求设置。可通过如下方式计算得到所述虚拟力：判断所述机器人末端在所述当前实际位置时与障碍物之间的距离是否大于所述预设安全距离；若大于，则确定所述距离对应的虚拟力为0；若不大于，则可以根据预设虚拟力计算公式，计算得到所述距离对应的所述虚拟力。其中，可选地，在所述预设虚拟力计算公式中，距离越小，虚拟力越大。所述预设虚拟力计算公式可以根据实际距离设置。
由此，可基于所述预设安全距离，根据机器人末端当前与障碍物的距离远近，将机器人的作业空间分为安全空间和危险空间，基于导纳控制的位置调整方式能为安全空间和危险空间的位置控制提供统一框架，从而保持两者之间切换时的稳定性。
作为一种可选的实施方式，所述预设虚拟力计算公式为：
Figure PCTCN2021133000-appb-000016
其中，f virtual表示虚拟力，f max表示预先设定的最大虚拟力，d表示所述机器人末端在所述当前实际位置时与障碍物之间的距离，d safe表示所述预设安全距离。
在上述预设虚拟力计算公式下，获得所述虚拟力的方式可以用以下公式表示：
Figure PCTCN2021133000-appb-000017
在获得所述虚拟力的情况下，可根据所述预设导纳控制方程、所述机器人末端所在的当前实际位置所对应的历史补偿量信息及虚拟力，计算得到所述待实施规划位置的位置补偿量。其中，所述历史补偿量信息根据所述机器人末端的当前实际位置及所述当前实际位置对应的历史规划位置得到。其中，所述当前实际位置由对所述历史规划位置进行调整得到，当然可以理解的是，调整幅度可以为0，也可以不为0，由实际情况确定。由此，可结合机器人末端当前所在位置所使用的补偿量信息以及虚拟力，通过导纳控制方式，计算得到所述待实施规划位置的位置补偿量。值得说明的是，在某些情况下(比如，在静止状态下开始执行本方案时)，所述当前实际位置若没有对应的历史规划位置，可根据实际需求设置所述当前实际位置对应的历史补偿量信息，比如，设置为0，以便基于设置的历史补偿量信息确定所述位置补偿量。
请参照图3，图3为本申请实施例的一种避障示意图。可选地，作为一种可选的实施方式，在进行位置调整时，可通过调整位置产生安全距离以避开障碍物；当障碍物主动远离、或者随着机器人的运动使得机器人远离障碍物时，可使机器人重新回到规划的轨迹，也即继续按照规划位置进行移动。由此，可使得机器人在避开障碍物后，继续按照该时刻原本的规划位置进行移动，从而继续进行作业，保证作业效果。
可选地，在所述虚拟力为零时，可确定由该虚拟力计算出的位置补偿量为零，从而可以控制机器人末端按照轨迹轨迹运行。作为一种实现方式，可以在虚拟力为零时，就直接确定位置补偿量为零。作为另一种实现方式，可以在虚拟力为零持续一段时间后，确定所述一段时间后对应的位置补偿量为零，也即，在虚拟力持续为零的情况下，位置补偿量可由非零逐渐变为零。
请参照图4，图4为本申请实施例提供的基于虚拟力的导纳控制示意图。在本实施方式中，所述当前实际位置对应的历史补偿量信息包括历史位置补偿量ΔX(t-n)及历史速度补偿量
Figure PCTCN2021133000-appb-000018
n表示至少一个控制周期的总时长。当所述目标未来时刻与当前时刻之间的时间差为一个控制周期时，如图4所示，历史补偿量信息可以包括历史位置补偿量ΔX(t-1)及历史速度补偿量
Figure PCTCN2021133000-appb-000019
可先根据所述预设导纳控制方程、所述历史位置补偿量及历史速度补偿量，计算得所述待实施规划位置的加速度补偿量。
其中，所述预设导纳控制方程为：
Figure PCTCN2021133000-appb-000020
其中，
Figure PCTCN2021133000-appb-000021
表示所述待实施规划位置的加速度补偿量；M表示期望阻抗模型的惯性矩阵，B表示期望阻抗模型的阻尼矩阵，K表示期望阻抗模型的刚度矩阵；t表示当前时刻，t-n表示历史时刻；历史时刻与当前时刻的时间差，等于目标未来时刻与当前时刻的时间差；f virtual(t)表示当前时刻的虚拟力；X c(t-n)表示当前实际位置，X r(t-n)表示当前实际位置对应的历史规划位置，也即历史时刻所对应的规划位置；X c(t-n)-X r(t-n)表示当前实际位置所对应的历史位置补偿量，即当前时刻所在的当前实际位置与当前实际位置所对应的历史规划位置之间的位置补偿量ΔX(t-n)；
Figure PCTCN2021133000-appb-000022
表示当前实际位置X c(t-n)关于时间的一阶导数，即当前实际位置X c(t-n)的速度；
Figure PCTCN2021133000-appb-000023
表示历史规划位置X r(t-n)关于时间的一阶导数，即历史规划位置X r(t-n)的速度；
Figure PCTCN2021133000-appb-000024
表示当前实际位置所对应的历史速度补偿量
Figure PCTCN2021133000-appb-000025
然后，根据所述加速度补偿量、历史位置补偿量及历史速度补偿量以及第一预设计算公式，计算得到所述位置补偿量。其中，所述第一预设计算公式为：
Figure PCTCN2021133000-appb-000026
Figure PCTCN2021133000-appb-000027
其中，ΔX(t)表示所述位置补偿量，
Figure PCTCN2021133000-appb-000028
ΔX(t-n)＝X c(t-n)-X r(t-n)，
Figure PCTCN2021133000-appb-000029
表示所述待实施规划位置的速度补偿量信息，T表示当前时刻与历史时刻t-n的时间差。
如图4所示，在获得位置补偿量之后，可基于该位置补偿量及待实施规划位置X r(t)，获得目标实施位置X c(t)。在当前时刻与目标未来时刻的时间差为一个控制周期的情况下，可进而通过机械臂运动学逆解IK获得该目标实施位置X c(t)所对应的指令关节角度。伺服系统可根据指令关节角度进行控制，以使机器人末端在目标未来时刻移动到该目标实施位置。
在该方式下，当机器人与障碍物之间的距离d小于预设安全距离时，则会产生虚拟力f virtual，进而基于导纳控制产生位置补偿量ΔX＝X c-X r，其中，X c表示实际位置(或者称为指令位置)，X r表示规划位置。当障碍物主动远离、或随着机器人运动使得机器人远离障碍物时，d增大使得f virtual≈0，由于刚度项的存在，导纳控制方式会继续输出位置补偿量，直到ΔX＝X c-X r＝0，此时，机器人则会重新回到规划轨迹。
请参照图5，图5为本申请实施例提供的另一种避障示意图。可选地，作为另一种可选的实施方式，在进行位置调整时，可通过调整位置产生安全距离以避开障碍物，并在后续轨迹中保持该安全距离。由此可保证机器人的安全。
在该实施方式中，在所述虚拟力为零时，可以将所述虚拟力为零前一时刻的位置补偿量作为当前时刻的待实施规划位置对应的位置补偿量，并将所述虚拟力为零前一时刻的位置补偿量叠加至所述待实施规划位置，实现对该实施规划位置的调整。如图5所示，若从某一时刻开始根据机械臂末端与障碍物之间的距离确定的虚拟力持续为0，也即相当于虚拟力消失，那么在虚拟力消失之后，可将虚拟力消失之前的位置补偿量叠加至所述规划轨迹中后续的每一个规划位置，使得在虚拟力消失后，所述规划轨迹中后续的每一个规划位置与对应的调整后的规划位置之间的差距均为虚拟力消失之前的位置补偿量，也即，图5中虚拟力消失后的轨迹(即调整后的后续轨迹)与原规划轨迹(即调整前的后续轨迹)之间的差距为虚拟力消失之前的位置补偿量。比如，规划轨迹中依次包括规划位置A1、A2、A3、A4，若在计算规划位置A1时确定出的虚拟力不为0，则针对该规划位置1可计算出一非零的位置补偿量；若之后确定出的虚拟力均为0，则可以将规划位置A1对应的位置补偿量分别叠加至规划位置A2～A4上。
在图5所示实施方式中，所述历史补偿量信息可以包括历史位置补偿量。可先根据所述预设导纳控制方程及所述虚拟力，计算得所述待实施规划位置的速度补偿量信息。其中，所述预设导纳控制方程为：
Figure PCTCN2021133000-appb-000030
其中，
Figure PCTCN2021133000-appb-000031
表示所述待实施规划位置的速度补偿量信息，B表示期望阻抗模型的阻尼矩阵，t表示当前时刻，f virtual(t)表示当前时刻的虚拟力。
然后，根据所述速度补偿量信息、历史位置补偿量及第二预设计算公式，计算得到所述位置补偿量。其中，所述第二预设计算公式为：
Figure PCTCN2021133000-appb-000032
其中，ΔX(t)表示所述位置补偿量，ΔX(t-n)表示历史位置补偿量，T表示当前时刻与历史时刻t-n的时间差。其中，关于该方式中字符的具体说明可参照上一方式中对字符的说明，在此不再赘述。
在本方式下，虚拟力f virtual使导纳控制方式产生位置补偿量ΔX，并在f virtual恢复为0时，使位置补偿量的变化速度置0，即机器人后续轨迹中保持该位置补偿量ΔX。
为了执行上述实施例及各个可能的方式中的相应步骤，下面给出一种位置调整装置200的实现方式，可选地，该位置调整装置200可以采用上述图1所示的终端设备100的器件结构。进一步地，请参照图6，图6为本申请实施例提供的位置调整装置200的方框示意图之一。需要说明的是，本实施例所提供的位置调整装置200，其基本原理及产生的技术效果和上述实施例相同，为简要描述，本实施例部分未提及之处，可参考上述的实施例中相应内容。所述位置调整装置200可以包括：距离确定模块210、虚拟力确定模块220、计算模块230。
所述距离确定模块210，用于根据规划轨迹，确定机器人末端当前时刻所对应的待实施规划位置，并获得所述机器人末端在当前实际位置时与障碍物之间的距离。
所述虚拟力确定模块220，用于确定所述距离对应的虚拟力。
所述计算模块230，用于根据预设导纳控制方程及所述虚拟力，获得所述待实施规划位置的位置补偿量。
所述调整模块240，用于根据所述位置补偿量对所述待实施规划位置进行调整。
可选地，在本实施例中，所述计算模块230具体用于：所述根据预设导纳控制方程及所述虚拟力，获得所述待实施规划位置的位置补偿量，包括：根据所述预设导纳控制方程、所述当前实际位置对应的历史补偿量信息及虚拟力，计算得到所述位置补偿量，其中，所述历史补偿量信息根据所述当前实际位置及所述当前实际位置对应的历史规划 位置得到。
可选地，在本实施例中，所述计算模块230具体用于在所述虚拟力为零时，确定所述位置补偿量为零。
可选地，在本实施例中，所述历史补偿量信息包括历史位置补偿量及历史速度补偿量，所述计算模块230具体用于：
根据所述预设导纳控制方程、所述历史位置补偿量及历史速度补偿量，计算得所述待实施规划位置的加速度补偿量，其中，所述预设导纳控制方程为：
Figure PCTCN2021133000-appb-000033
其中，
Figure PCTCN2021133000-appb-000034
表示所述待实施规划位置的加速度补偿量，M表示期望阻抗模型的惯性矩阵，B表示期望阻抗模型的阻尼矩阵，K表示期望阻抗模型的刚度矩阵，t表示当前时刻，f virtual(t)表示所述虚拟力，X c(t-n)-X r(t-n)表示所述当前实际位置所对应的历史位置补偿量，
Figure PCTCN2021133000-appb-000035
表示所述当前实际位置所对应的历史速度补偿量；
根据所述加速度补偿量、历史位置补偿量及历史速度补偿量以及第一预设计算公式，计算得到所述位置补偿量，其中，所述第一预设计算公式为：
Figure PCTCN2021133000-appb-000036
Figure PCTCN2021133000-appb-000037
其中，ΔX(t)表示所述位置补偿量，
Figure PCTCN2021133000-appb-000038
ΔX(t-n)＝X c(t-n)-X r(t-n)，
Figure PCTCN2021133000-appb-000039
表示所述待实施规划位置的速度补偿量信息，T表示当前时刻与历史时刻t-n的时间差。
可选地，在本实施例中，所述历史补偿量信息包括历史位置补偿量，所述计算模块230具体用于：
根据所述预设导纳控制方程及所述虚拟力，计算得所述待实施规划位置的速度补偿量信息，其中，所述预设导纳控制方程为：
Figure PCTCN2021133000-appb-000040
其中，
Figure PCTCN2021133000-appb-000041
表示所述待实施规划位置的速度补偿量信息，B表示期望阻抗模型的 阻尼矩阵，t表示当前时刻，f virtual(t)表示虚拟力；
根据所述速度补偿量信息、历史位置补偿量及第二预设计算公式，计算得到所述位置补偿量，其中，所述第二预设计算公式为：
Figure PCTCN2021133000-appb-000042
其中，ΔX(t)表示所述位置补偿量，ΔX(t-n)表示历史位置补偿量，T表示当前时刻与历史时刻t-n的时间差。
可选地，在本实施例中，所述调整模块240具体用于在所述虚拟力为零时，将所述虚拟力为零前一时刻的位置补偿量叠加至所述待实施规划位置。
可选地，在本实施例中，所述虚拟力确定模块220具体用于：在所述距离大于预设安全距离的情况下，确定所述距离对应的虚拟力为0；在所述距离不大于所述预设安全距离的情况下，根据预设虚拟力计算公式计算得到所述距离对应的虚拟力。
可选地，在所述预设虚拟力计算公式中，距离越小，虚拟力越大。
请参照图7，图7为本申请实施例提供的位置调整装置200的方框示意图之二。所述位置调整装置200还可以包括控制模块250。
所述控制模块250，用于控制所述机器人末端在目标未来时刻移动至所述目标实施位置。
可选地，上述模块可以软件或固件(Firmware)的形式存储于图1所示的存储器110中或固化于终端设备100的操作系统(Operating System，OS)中，并可由图1中的处理器120执行。同时，执行上述模块所需的数据、程序的代码等可以存储在存储器110中。
本申请实施例还提供一种可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现所述的位置调整方法。
综上所述，本申请实施例提供了种位置调整方法、装置、终端设备及可读存储介质，根据规划轨迹，确定机器人末端在当前时刻所对应的待实施规划位置，并获得该机器人末端在当前实际位置时与障碍物之间的距离，进而根据该距离确定出该距离所对应的虚拟力；然后根据预设导纳控制方程及该虚拟力，获得待实施规划位置的位置补偿量，接着根据该位置补偿量对待实施规划位置进行调整。由此，可根据机器人在当前时刻所在的实际位置与障碍物的空间距离产生虚拟力，进而通过导纳控制基于该虚拟力实时地产生位置调整量，对当前时刻所对应的规划位置进行在线调整，从而避免后续与障碍物发 生碰撞。本申请实施例可实时根据动态的相对位姿，对规划轨迹进行重新规划，从而避免碰撞。
在本申请所提供的几个实施例中，应该理解到，所揭露的装置和方法，也可以通过其它的方式实现。以上所描述的装置实施例仅仅是示意性的，例如，附图中的流程图和框图显示了根据本申请的多个实施例的装置、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段或代码的一部分，所述模块、程序段或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现方式中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个连续的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或动作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。
另外，在本申请各个实施例中的各功能模块可以集成在一起形成一个独立的部分，也可以是各个模块单独存在，也可以两个或两个以上模块集成形成一个独立的部分。
所述功能如果以软件功能模块的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述仅为本申请的可选实施例而已，并不用于限制本申请，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。

Claims (10)

  1. 一种位置调整方法，其特征在于，包括：
    根据规划轨迹，确定机器人末端当前时刻所对应的待实施规划位置，并获得所述机器人末端在当前实际位置时与障碍物之间的距离；
    确定所述距离对应的虚拟力；
    根据预设导纳控制方程及所述虚拟力，获得所述待实施规划位置的位置补偿量；
    根据所述位置补偿量对所述待实施规划位置进行调整。
  2. 根据权利要求1所述的方法，其特征在于，所述根据预设导纳控制方程及所述虚拟力，获得所述待实施规划位置的位置补偿量，包括：
    根据所述预设导纳控制方程、所述当前实际位置对应的历史补偿量信息及虚拟力，计算得到所述位置补偿量，其中，所述历史补偿量信息根据所述当前实际位置及所述当前实际位置对应的历史规划位置得到。
  3. 根据权利要求2所述的方法，其特征在于，所述根据所述预设导纳控制方程、所述当前实际位置对应的历史补偿量信息及虚拟力，计算得到所述位置补偿量，包括：
    在所述虚拟力为零时，确定所述位置补偿量为零。
  4. 根据权利要求2所述的方法，其特征在于，所述历史补偿量信息包括历史位置补偿量及历史速度补偿量，所述根据所述预设导纳控制方程、所述当前实际位置对应的历史补偿量信息及虚拟力，计算得到所述位置补偿量，包括：
    根据所述预设导纳控制方程、所述历史位置补偿量及历史速度补偿量，计算得所述待实施规划位置的加速度补偿量，其中，所述预设导纳控制方程为：
    Figure PCTCN2021133000-appb-100001
    其中，
    Figure PCTCN2021133000-appb-100002
    表示所述待实施规划位置的加速度补偿量，M表示期望阻抗模型的惯性矩阵，B表示期望阻抗模型的阻尼矩阵，K表示期望阻抗模型的刚度矩阵，t表示当前时刻，f virtual(t)表示所述虚拟力，X c(t-n)-X r(t-n)表示所述当前实际位置所对应的历史位置补偿量，
    Figure PCTCN2021133000-appb-100003
    表示所述当前实际位置所对应的历史速度补偿量；
    根据所述加速度补偿量、历史位置补偿量及历史速度补偿量以及第一预设计算公式，计算得到所述位置补偿量，其中，所述第一预设计算公式为：
    Figure PCTCN2021133000-appb-100004
    Figure PCTCN2021133000-appb-100005
    其中，ΔX(t)表示所述位置补偿量，
    Figure PCTCN2021133000-appb-100006
    Figure PCTCN2021133000-appb-100007
    表示所述待实施规划位置的速度补偿量信息，T表示当前时刻与历史时刻t-n的时间差。
  5. 根据权利要求2所述的方法，其特征在于，所述历史补偿量信息包括历史位置补偿量，所述根据所述预设导纳控制方程、所述当前实际位置对应的历史补偿量信息及虚拟力，计算得到所述位置补偿量，包括：
    根据所述预设导纳控制方程及所述虚拟力，计算得所述待实施规划位置的速度补偿量信息，其中，所述预设导纳控制方程为：
    Figure PCTCN2021133000-appb-100008
    其中，
    Figure PCTCN2021133000-appb-100009
    表示所述待实施规划位置的速度补偿量信息，B表示期望阻抗模型的阻尼矩阵，t表示当前时刻，f virtual(t)表示虚拟力；
    根据所述速度补偿量信息、历史位置补偿量及第二预设计算公式，计算得到所述位置补偿量，其中，所述第二预设计算公式为：
    Figure PCTCN2021133000-appb-100010
    其中，ΔX(t)表示所述位置补偿量，ΔX(t-n)表示历史位置补偿量，T表示当前时刻与历史时刻t-n的时间差。
  6. 根据权利要求1所述的方法，其特征在于，所述根据所述位置补偿量对所述待实施规划位置进行调整，包括：
    在所述虚拟力为零时，将所述虚拟力为零前一时刻的位置补偿量叠加至所述待实施规划位置。
  7. 根据权利要求1所述的方法，其特征在于，所述确定所述距离对应的虚拟力，包括：
    在所述距离大于预设安全距离的情况下，确定所述距离对应的虚拟力为0；
    在所述距离不大于所述预设安全距离的情况下，根据预设虚拟力计算公式计算得到所述距离对应的虚拟力。
  8. 一种位置调整装置，其特征在于，包括：
    距离确定模块，用于根据规划轨迹，确定机器人末端当前时刻所对应的待实施规划位置，并获得所述机器人末端在当前实际位置时与障碍物之间的距离；
    虚拟力确定模块，用于确定所述距离对应的虚拟力；
    计算模块，用于根据预设导纳控制方程及所述虚拟力，获得所述待实施规划位置的位置补偿量；
    调整模块，用于根据所述位置补偿量对所述待实施规划位置进行调整。
  9. 一种终端设备，其特征在于，包括处理器和存储器，所述存储器存储有能够被所述处理器执行的机器可执行指令，所述处理器可执行所述机器可执行指令以实现权利要求1-6中任意一项所述的位置调整方法。
  10. 一种可读存储介质，其上存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现如权利要求1-6中任意一项所述的位置调整方法。
PCT/CN2021/133000 2021-02-05 2021-11-25 位置调整方法、装置、终端设备及可读存储介质 Ceased WO2022166330A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110164560.0A CN112947439B (zh) 2021-02-05 2021-02-05 位置调整方法、装置、终端设备及可读存储介质
CN202110164560.0 2021-02-05

Publications (1)

Publication Number Publication Date
WO2022166330A1 true WO2022166330A1 (zh) 2022-08-11

Family

ID=76242878

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/133000 Ceased WO2022166330A1 (zh) 2021-02-05 2021-11-25 位置调整方法、装置、终端设备及可读存储介质

Country Status (2)

Country Link
CN (1) CN112947439B (zh)
WO (1) WO2022166330A1 (zh)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115958610A (zh) * 2023-03-16 2023-04-14 季华实验室 一种机械臂避障方法、装置、电子设备及存储介质
CN116276979A (zh) * 2023-02-14 2023-06-23 仁洁智能科技有限公司 机器人的位姿控制方法、装置以及存储介质、电子设备

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112947439B (zh) * 2021-02-05 2024-07-23 深圳市优必选科技股份有限公司 位置调整方法、装置、终端设备及可读存储介质

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140172172A1 (en) * 2012-12-17 2014-06-19 Hyundai Motor Company Method for improving sensitivity of robot
US20160229050A1 (en) * 2015-02-06 2016-08-11 Abb Technology Ag Contact force limiting with haptic feedback for a tele-operated robot
CN107907131A (zh) * 2017-11-10 2018-04-13 珊口（上海）智能科技有限公司 定位系统、方法及所适用的机器人
CN108472028A (zh) * 2016-09-16 2018-08-31 威博外科公司 机器人臂
CN110035871A (zh) * 2016-11-10 2019-07-19 康格尼博提克斯股份公司 用于指示机器人的系统和方法
CN111252162A (zh) * 2020-02-24 2020-06-09 北京理工大学 一种双足机器人足部柔顺平衡控制系统及方法
CN111923038A (zh) * 2020-07-01 2020-11-13 深圳市越疆科技有限公司 机械臂式机器人、机器人的避障方法及存储介质
CN112947439A (zh) * 2021-02-05 2021-06-11 深圳市优必选科技股份有限公司 位置调整方法、装置、终端设备及可读存储介质

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013158837A (ja) * 2012-02-01 2013-08-19 Seiko Epson Corp ロボット制御装置、およびロボット制御方法
JP6312264B2 (ja) * 2012-09-17 2018-04-18 リシンク ロボティクス インコーポレイテッド 冗長自由度を伴うロボットマニピュレータの制約
DE102014226936B3 (de) * 2014-11-14 2016-03-17 Deutsches Zentrum für Luft- und Raumfahrt e.V. Ganzkörperimpedanz für mobile Roboter
JP6332018B2 (ja) * 2014-12-25 2018-05-30 トヨタ自動車株式会社 搬送ロボット、及びその制御方法
US10327849B2 (en) * 2015-11-11 2019-06-25 Mako Surgical Corp. Robotic system and method for backdriving the same
DE102016004841B4 (de) * 2016-04-24 2018-01-04 Kastanienbaum GmbH Verfahren und Vorrichtung zum Festlegen eines Bewegungsablaufs für einen Roboter
DE102017007359B4 (de) * 2017-08-04 2021-07-08 Kuka Deutschland Gmbh Verfahren und System zum Überprüfen und/oder Modifizieren eines Arbeitsprozesses eines Roboters
US10928832B2 (en) * 2017-09-29 2021-02-23 Huawei Technologies Co., Ltd. Impedance-based motion control for autonomous vehicles
CN109171965B (zh) * 2018-09-27 2021-06-04 上海电气集团股份有限公司 基于虚拟夹具的机器人的控制方法及系统
CN110405762B (zh) * 2019-07-22 2020-09-25 北京理工大学 一种基于空间二阶倒立摆模型的双足机器人姿态控制方法
CN111230867B (zh) * 2020-01-16 2022-12-16 腾讯科技（深圳）有限公司 机器人运动控制方法、运动控制设备及机器人
CN111730599B (zh) * 2020-07-08 2021-09-07 深圳市优必选科技股份有限公司 阻抗控制方法、装置、阻抗控制器和机器人

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140172172A1 (en) * 2012-12-17 2014-06-19 Hyundai Motor Company Method for improving sensitivity of robot
US20160229050A1 (en) * 2015-02-06 2016-08-11 Abb Technology Ag Contact force limiting with haptic feedback for a tele-operated robot
CN108472028A (zh) * 2016-09-16 2018-08-31 威博外科公司 机器人臂
CN110035871A (zh) * 2016-11-10 2019-07-19 康格尼博提克斯股份公司 用于指示机器人的系统和方法
CN107907131A (zh) * 2017-11-10 2018-04-13 珊口（上海）智能科技有限公司 定位系统、方法及所适用的机器人
CN111252162A (zh) * 2020-02-24 2020-06-09 北京理工大学 一种双足机器人足部柔顺平衡控制系统及方法
CN111923038A (zh) * 2020-07-01 2020-11-13 深圳市越疆科技有限公司 机械臂式机器人、机器人的避障方法及存储介质
CN112947439A (zh) * 2021-02-05 2021-06-11 深圳市优必选科技股份有限公司 位置调整方法、装置、终端设备及可读存储介质

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116276979A (zh) * 2023-02-14 2023-06-23 仁洁智能科技有限公司 机器人的位姿控制方法、装置以及存储介质、电子设备
CN116276979B (zh) * 2023-02-14 2026-01-06 仁洁智能科技有限公司 机器人的位姿控制方法、装置以及存储介质、电子设备
CN115958610A (zh) * 2023-03-16 2023-04-14 季华实验室 一种机械臂避障方法、装置、电子设备及存储介质

Also Published As

Publication number Publication date
CN112947439A (zh) 2021-06-11
CN112947439B (zh) 2024-07-23

Similar Documents

Publication Publication Date Title
WO2022166330A1 (zh) 位置调整方法、装置、终端设备及可读存储介质
US12454054B2 (en) Method for controlling robot, robot and computer-readable storage medium
US11654899B2 (en) Method and apparatus for avoidance control of vehicle, electronic device and storage medium
EP3795307B1 (en) Improvements related to generating a robot control policy from demonstrations collected via kinesthetic teaching of a robot
AU2017404562A1 (en) System and method of controlling obstacle avoidance of robot, robot and storage medium
US11872704B2 (en) Dynamic motion planning system
Li Robot target localization and interactive multi-mode motion trajectory tracking based on adaptive iterative learning
JP6992719B2 (ja) 制御装置
Sharghi et al. Finite-time-estimation-based surrounding control for a class of unknown nonlinear multi-agent systems
JP5912953B2 (ja) 制御装置、及び制御方法
CN111590592A (zh) 机械臂的控制方法及装置、电子设备、存储介质
WO2022271535A1 (en) Safety trajectories for robotic control systems
EP3922418A1 (en) Control device, control method, and recording medium
CN120244981B (zh) 移动机械臂的避障控制方法
Xiao et al. Robotic target following with slow and delayed visual feedback: H. Xiao, X. Chen
Huang et al. Vision-based adaptive LT sliding mode admittance control for collaborative robots with actuator saturation
CN111221318A (zh) 一种基于模型预测控制算法的多机器人状态估计方法
Zhou et al. RETRACTED: uncalibrated dynamic visual servoing via multivariate adaptive regression splines and improved incremental extreme learning machine
Aoyama et al. Teleoperation of mobile robots based on MPC with time-varying delay
Ebrahimpour et al. Multi-Constraint predictive control system with auxiliary emergency controllers for autonomous vehicles
CN111699078A (zh) 机器人的运行
CN109000653B (zh) 一种多维空间多载运工具路径智能优化方法
Tashiro et al. Time delay compensation for DOB-based contact force control under time delay
CN114986491A (zh) 一种作业控制方法、装置、作业设备及存储介质
CN119681884B (zh) 机器人控制方法、装置、机器人及计算机程序产品

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21924325

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21924325

Country of ref document: EP

Kind code of ref document: A1

122 Ep: pct application non-entry in european phase

Ref document number: 21924325

Country of ref document: EP

Kind code of ref document: A1