WO2022166330A1 - Procédé et appareil de réglage de position, dispositif terminal et support de stockage lisible - Google Patents

Procédé et appareil de réglage de position, dispositif terminal et support de stockage lisible Download PDF

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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
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WIPO (PCT)
Prior art keywords
compensation amount
historical
virtual force
planned
implemented
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PCT/CN2021/133000
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English (en)
Chinese (zh)
Inventor
曾献文
刘益彰
陈金亮
张美辉
熊友军
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Ubtech Robotics Corp
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Ubtech Robotics Corp
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    • 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 .

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  • 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

L'invention concerne un procédé et un appareil de réglage de position, un dispositif terminal et un support de stockage lisible, associés au domaine technique des robots. Le procédé consiste à : déterminer une position de planification à mise en œuvre correspondant à un moment actuel d'une extrémité de robot selon une trajectoire de planification, et obtenir une distance entre l'extrémité de robot à la position réelle actuelle et un obstacle (S110) ; déterminer une force virtuelle correspondant à la distance (S120) ; obtenir une quantité de compensation de position de ladite position de planification selon une équation de commande d'admission prédéfinie et la force virtuelle (S130) ; et régler ladite position en fonction de la quantité de compensation de position (S140). Par conséquent, la force virtuelle peut être produite en fonction de la distance spatiale entre le robot à la position réelle actuelle et l'obstacle, puis la quantité de réglage de position est produite en temps réel au moyen d'une commande d'admission sur la base de la force virtuelle, et la position de planification correspondant au moment actuel est réglée, de telle sorte qu'un réglage en ligne de la trajectoire de planification est réalisé, et une collision est évitée.
PCT/CN2021/133000 2021-02-05 2021-11-25 Procédé et appareil de réglage de position, dispositif terminal et support de stockage lisible Ceased WO2022166330A1 (fr)

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