WO2022193639A1 - Bras mécanique, ainsi que procédé et appareil de planification de trajectoire associés - Google Patents

Bras mécanique, ainsi que procédé et appareil de planification de trajectoire associés Download PDF

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Publication number
WO2022193639A1
WO2022193639A1 PCT/CN2021/124616 CN2021124616W WO2022193639A1 WO 2022193639 A1 WO2022193639 A1 WO 2022193639A1 CN 2021124616 W CN2021124616 W CN 2021124616W WO 2022193639 A1 WO2022193639 A1 WO 2022193639A1
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WO
WIPO (PCT)
Prior art keywords
joint
robotic arm
motion
maximum
path
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PCT/CN2021/124616
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English (en)
Chinese (zh)
Inventor
张美辉
刘益彰
熊友军
Original Assignee
深圳市优必选科技股份有限公司
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Publication of WO2022193639A1 publication Critical patent/WO2022193639A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed

Definitions

  • the present application belongs to the field of automation, and particularly relates to a robotic arm and its trajectory planning method and device.
  • the S-shaped velocity planning method In the trajectory planning of the multi-axis manipulator, in order to ensure the stability of the entire movement, the S-shaped velocity planning method is generally used.
  • the S-shaped planning method divides the entire motion process into seven stages, which are: acceleration with increasing acceleration, uniform acceleration, acceleration with decreasing acceleration, uniform motion, deceleration with increased acceleration, uniform deceleration and A deceleration movement with reduced acceleration.
  • This motion speed planning method fully considers the acceleration and deceleration process of joint motion, which is beneficial to ensure the stability of the entire motion process and is widely used.
  • this trajectory planning method needs to set the expected maximum speed and maximum acceleration, so as to calculate the movement time of each stage. Due to the lack of parameters, it is generally determined by experience or intuitive feeling. If the setting is not accurate, it is easy to exceed the movement limit of the robot arm, or affect the operation speed of the robot arm.
  • the embodiments of the present application provide a trajectory planning method and device for a robotic arm to solve the problem that the trajectory planning of the robotic arm in the prior art easily exceeds the motion limit of the robotic arm, or affects the operating speed of the robotic arm.
  • a first aspect of the embodiments of the present application provides a trajectory planning method for a robotic arm, the method comprising:
  • trajectory planning is performed on the robotic arm.
  • determining the movement path of the robot arm corresponding to the movement process of the robot arm includes:
  • a scalar parameter describing the movement path during the movement of the robotic arm is determined, and a corresponding relationship between the scalar parameter and the movement path of the mechanical contraceptive is established.
  • the method further includes:
  • the value of the scalar parameter corresponding to the motion path is normalized.
  • the starting point of the motion path is the same as the one in the scalar parameter.
  • the value of 0 corresponds to the value of 0, and the end point of the motion path corresponds to the value of 1 of the scalar parameter.
  • the objective function is determined according to the motion path of the robotic arm, combined with the joint speed and joint torque constraints of the robotic arm itself, and the joint angle corresponding to the path point , to determine the maximum speed and maximum acceleration feasible for the joint, including:
  • Determine the objective function with the shortest time Determine the maximum speed and maximum acceleration feasible for the joint, where, and respectively represent the minimum and maximum speeds allowed by the joints of the manipulator, ⁇ min and ⁇ max represent the minimum and maximum torques that the manipulator joints can output, represents the joint velocity represented by the scalar parameter s and the first derivative of the scalar parameter s, Represents the joint moment represented by the scalar parameter s and its first derivative and second derivative, t0 is the start time of the movement, and te is the end time of the movement.
  • performing trajectory planning on the robotic arm according to the determined maximum speed and maximum acceleration including:
  • the mechanical arm is carried out. Trajectory planning.
  • the motion path includes motion paths of each joint of the robotic arm, and when determining the feasible maximum speed and maximum acceleration of the joints , respectively determine the maximum velocity and maximum acceleration corresponding to each joint.
  • a second aspect of the embodiments of the present application provides a trajectory planning device for a robotic arm, the device comprising:
  • a joint data determination unit configured to determine the motion path of the robotic arm and the joint angle corresponding to each path point corresponding to the motion process of the robotic arm;
  • the data calculation unit is used to determine the objective function according to the motion path of the robotic arm, and combine the joint speed and joint torque constraints of the robotic arm itself, as well as the joint angle corresponding to the path point, to determine the feasible maximum speed and maximum acceleration of the joint ;
  • a trajectory planning unit configured to perform trajectory planning for the robotic arm according to the determined maximum speed and maximum acceleration.
  • a third aspect of the embodiments of the present application provides a robotic arm, including a memory, a processor, and a computer program stored in the memory and executable on the processor, when the processor executes the computer program
  • the steps of the method according to any one of the first aspects are implemented.
  • a fourth aspect of the embodiments of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, implements the method according to any one of the first aspects A step of.
  • the present application determines the objective function by determining the motion paths of the joints of the robotic arm during the movement process, and according to the objective function, combined with the preset limitations of the robotic arm itself Condition and the joint angle corresponding to the path point, determine the maximum speed and maximum acceleration of the joint, and plan and control the trajectory of the robot arm according to the determined maximum speed and maximum acceleration, so that the joint can meet the movement limit of the robot arm joint.
  • the present application determines the objective function by determining the motion paths of the joints of the robotic arm during the movement process, and according to the objective function, combined with the preset limitations of the robotic arm itself Condition and the joint angle corresponding to the path point, determine the maximum speed and maximum acceleration of the joint, and plan and control the trajectory of the robot arm according to the determined maximum speed and maximum acceleration, so that the joint can meet the movement limit of the robot arm joint.
  • the present application determines the objective function by determining the motion paths of the joints of the robotic arm during the movement process, and according to the objective function, combined with the preset limitations of the robotic arm itself Condition and
  • Figure 1 is a schematic diagram of an S-shaped speed planning curve
  • FIG. 2 is a schematic diagram of an implementation flowchart of a trajectory planning method for a robotic arm provided by an embodiment of the present application;
  • FIG. 3 is a schematic diagram of a trajectory planning device for a robotic arm provided by an embodiment of the present application.
  • FIG. 4 is a schematic diagram of a robotic arm provided by an embodiment of the present application.
  • the S-shaped velocity planning method is usually used in the trajectory planning control of the manipulator.
  • the entire motion process can be roughly divided into 7 stages, namely: 1. The acceleration motion stage with increased acceleration, 2. The uniform acceleration motion stage, 3. The acceleration decrease Small acceleration motion stage, 4, uniform motion stage, 5, deceleration motion stage with increased acceleration, 6, uniform deceleration motion stage, 7, deceleration motion stage with reduced acceleration.
  • This trajectory planning method fully considers the acceleration and deceleration process of joint motion, effectively improves the stability of the motion process, and is widely used in the field of trajectory planning.
  • the robot arm uses the S-shaped speed planning curve for trajectory planning, it is necessary to set the expected maximum speed and maximum acceleration for this movement, so as to calculate the time of each stage in the S-shaped speed planning curve.
  • the maximum speed and maximum acceleration are usually determined empirically or by means of intuitive feeling. If the set maximum acceleration or maximum speed is too high, the movement limit of the robot arm may be exceeded and the movement cannot be achieved. If the set maximum acceleration or maximum speed is too small, it is not conducive to the performance of the robot arm and affects the operation efficiency of the robot arm.
  • an embodiment of the present application proposes a trajectory planning method for a robotic arm.
  • the joint angles corresponding to the motion path of the robotic arm and the path points of the motion path are combined with the limitation of the joints.
  • Conditions determine the maximum speed and maximum acceleration of the joint, and plan the trajectory of the joint according to the determined maximum speed and maximum acceleration, so as to avoid the problem that the trajectory planning cannot be completed, or it is not conducive to giving full play to the performance of the manipulator, and the operation efficiency of the manipulator is not high. .
  • FIG. 2 is a schematic diagram of the implementation flow of a trajectory planning method for a robotic arm provided by an embodiment of the present application, which is described in detail as follows:
  • a motion path of the robotic arm corresponding to the motion process of the robotic arm and joint angles corresponding to each path point are determined.
  • the robotic arm described in the embodiments of the present application may be a robotic arm of a robot, or may be a robotic arm of other automation equipment.
  • the trajectory planning of the robotic arm can be completed by a control module unit in the robotic arm, or it can also receive trajectory planning data from other control centers, and the robotic arm can execute the trajectory planning data.
  • the robotic arm may be a single-joint robotic arm or a multi-joint robotic arm.
  • the motion trajectory corresponding to each joint in the manipulator can be determined according to the motion path of the manipulator.
  • each motion path corresponds to the motion paths of multiple joints.
  • a corresponding relationship between the motion path of the robotic arm and a scalar parameter may be established. That is, for each path point in the motion path of the robotic arm, a scalar parameter can be used to represent the path point. Therefore, each path point in the motion path can be described by a scalar parameter, which facilitates the identification and processing of the path point more conveniently.
  • the scalar parameter may also be referred to as a vectorless parameter.
  • the scalar parameter s can be used to represent the path points in the motion path.
  • the joint angles corresponding to each path point can be obtained.
  • q represents the joint angle corresponding to the scalar parameter s of the joint.
  • it may further include normalizing the scalar parameters identifying the path points, so that the path points of different motion paths include the path points of the motion paths of different joints, and the motion paths of joints with different motion actions.
  • the waypoints can be expressed by normalized parameters.
  • the normalized scalar parameter value corresponding to each waypoint can be obtained.
  • the scalar parameter value corresponding to the path point at the starting point can be set to 0, and the scalar parameter value corresponding to the path point at the end position is 1.
  • the scalar parameter value corresponding to the start position may also be set to 1, and the scalar parameter value of the end position may be set to 0.
  • the objective function is determined according to the motion path of the robotic arm, and the joint speed and joint torque limitation conditions of the robotic arm are combined with the joint angle corresponding to the path point to determine the feasible maximum speed and maximum acceleration of the joint.
  • the objective function for determining the maximum acceleration and the maximum velocity can be determined according to the scalar parameters corresponding to the path points in the motion path.
  • the objective function can be:
  • s represents the scalar parameter corresponding to the path point
  • t0 is the movement start time
  • te is the movement end time
  • T represents the movement time required for the joint to complete the movement path.
  • constraints can be expressed as: in, and respectively represent the minimum and maximum speeds allowed by the joints of the manipulator, ⁇ min and ⁇ max represent the minimum and maximum torques that the manipulator joints can output, represents the joint velocity represented by the scalar parameter s and the first derivative of the scalar parameter s, Represents the joint moment represented by the scalar parameter s and its first and second derivatives.
  • the expressions of the joint speed and joint torque can be determined according to different models.
  • the dynamics model of a robot can be expressed as:
  • H(q) represents the inertia matrix of the robot, represents the Coriolis effect, g(q) represents the gravitational term, ⁇ represents the joint moment, respectively represent the position, velocity and acceleration of each joint of the robot.
  • the pose of the robot end can be represented by a vector p in the task space. It is known that any point p on the motion path can be represented by the scalar displacement s along the path, and can also be represented according to the forward kinematics of the robot and the joint position q, so it is expressed as follows:
  • Equation (1) takes one and two differentials with respect to time, respectively,
  • r q can be regarded as the Jacobian matrix of the robot
  • r qq can be regarded as the Hessian matrix of the vector function r.
  • the restriction conditions, and the corresponding relationship between the path points and the joint angles, the maximum velocity and the maximum acceleration corresponding to the motion path can be obtained by numerical integration method.
  • trajectory planning is performed on the robotic arm.
  • the maximum acceleration can be used as the acceleration in the uniform acceleration motion and uniform deceleration stage in the S-shaped trajectory rule, and the speed transformation control is performed,
  • the maximum speed is used as the speed of the constant speed stage for trajectory planning, so that the joint can be in the movement stage of the maximum speed for as long as possible, which is beneficial to improve the operation efficiency of the manipulator, and will not exceed the motion limit of the manipulator.
  • the motion path of each joint can be determined respectively, and the maximum acceleration and maximum speed corresponding to each joint can be determined according to the motion path of each joint.
  • the maximum velocity and maximum acceleration of the joint are used for trajectory planning of each joint.
  • FIG. 3 is a trajectory planning device of a robotic arm provided by an embodiment of the application, and the device includes:
  • the joint data determination unit 301 is used to determine the motion path of the robotic arm and the joint angle corresponding to each path point corresponding to the motion process of the robotic arm;
  • the data calculation unit 302 is used to determine the objective function according to the motion path of the robotic arm, and combine the joint speed and joint torque limitation conditions of the robotic arm itself, as well as the joint angle corresponding to the path point, to determine the feasible maximum speed and maximum speed of the joint. acceleration;
  • the trajectory planning unit 303 is configured to perform trajectory planning for the robotic arm according to the determined maximum speed and maximum acceleration.
  • the trajectory planning device of the robot arm shown in FIG. 3 corresponds to the trajectory planning method of the robot arm shown in FIG. 2 .
  • FIG. 4 is a schematic diagram of a robotic arm provided by an embodiment of the present application.
  • the robotic arm 4 of this embodiment includes: a processor 40 , a memory 41 , and a computer program 42 stored in the memory 41 and executable on the processor 40 , such as trajectory planning of the robotic arm program.
  • the processor 40 executes the computer program 42, the steps in the above-mentioned embodiments of the trajectory planning methods of the robotic arms are implemented.
  • the processor 40 executes the computer program 42, the functions of the modules/units in the above-mentioned device embodiments are implemented.
  • the computer program 42 may be divided into one or more modules/units, and the one or more modules/units are stored in the memory 41 and executed by the processor 40 to complete the this application.
  • the one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program 42 in the robotic arm 4 .
  • the computer program 42 can be divided into:
  • the robotic arm may include, but is not limited to, a processor 40 and a memory 41 .
  • FIG. 4 is only an example of the robot arm 4, and does not constitute a limitation to the robot arm 4. It may include more or less components than the one shown, or combine some components, or different components
  • the robotic arm may further include input and output devices, network access devices, buses, and the like.
  • the so-called processor 40 may be a central processing unit (Central Processing Unit, CPU), or other general-purpose processors, digital signal processors (Digital Signal Processors, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
  • the storage 41 may be an internal storage unit of the robotic arm 4 , such as a hard disk or a memory of the robotic arm 4 .
  • the memory 41 can also be an external storage device of the robotic arm 4, such as a plug-in hard disk equipped on the robotic arm 4, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, Flash Card, etc. Further, the memory 41 may also include both an internal storage unit of the robotic arm 4 and an external storage device.
  • the memory 41 is used to store the computer program and other programs and data required by the robotic arm.
  • the memory 41 can also be used to temporarily store data that has been output or will be output.
  • the disclosed apparatus/terminal device and method may be implemented in other manners.
  • the apparatus/terminal device embodiments described above are only illustrative.
  • the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units. Or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented.
  • the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.
  • the above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.
  • the integrated modules/units if implemented in the form of software functional units and sold or used as independent products, may be stored in a computer-readable storage medium.
  • the present application can implement all or part of the processes in the methods of the above embodiments, and it can also be completed by instructing the relevant hardware through a computer program.
  • the computer program can be stored in a computer-readable storage medium.
  • the computer program When executed by a processor, the steps of each of the above method embodiments can be implemented.
  • the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form, and the like.
  • the computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, removable hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory) , Random Access Memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium Excluded are electrical carrier signals and telecommunication signals.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un bras mécanique (4) ainsi qu'un procédé et un appareil de planification de trajectoire associés. Le procédé comprend les étapes consistant à : déterminer un trajet de mouvement d'un bras mécanique (4) correspondant à un processus de mouvement du bras mécanique (4), et un angle d'articulation correspondant à chaque point de trajet ; déterminer une fonction cible en fonction du trajet de mouvement, et déterminer une vitesse maximale et une accélération maximale possibles d'une articulation en combinant des conditions de limitation de vitesse d'articulation et de couple d'articulation du bras mécanique (4) lui-même avec l'angle d'articulation correspondant au point de trajet ; et effectuer une planification de trajectoire sur le bras mécanique (4) en fonction de la vitesse maximale et de l'accélération maximale déterminées. Ainsi, la vitesse de mouvement de l'articulation est augmentée quand la limite de mouvement de l'articulation du bras mécanique (4) est satisfaite, ce qui facilite l'amélioration de l'efficacité de fonctionnement du bras mécanique (4).
PCT/CN2021/124616 2021-03-18 2021-10-19 Bras mécanique, ainsi que procédé et appareil de planification de trajectoire associés WO2022193639A1 (fr)

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CN115781683B (zh) * 2022-12-20 2024-05-24 实时侠智能控制技术有限公司 机械臂的在线轨迹规划方法、装置及计算机可读介质
CN116476041A (zh) * 2022-12-28 2023-07-25 深圳市人工智能与机器人研究院 一种核酸采样机器人的力位混合控制方法及机器人
CN116476041B (zh) * 2022-12-28 2024-01-30 深圳市人工智能与机器人研究院 一种核酸采样机器人的力位混合控制方法及机器人
CN117381805A (zh) * 2023-12-13 2024-01-12 成都航空职业技术学院 一种面向冲突应对的机械臂运行控制方法和系统
CN117381805B (zh) * 2023-12-13 2024-02-27 成都航空职业技术学院 一种面向冲突应对的机械臂运行控制方法和系统

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