WO2023213243A1 - 一种机器人自适应变阻抗电驱动系统及控制方法、装置 - Google Patents

一种机器人自适应变阻抗电驱动系统及控制方法、装置 Download PDF

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Publication number
WO2023213243A1
WO2023213243A1 PCT/CN2023/091649 CN2023091649W WO2023213243A1 WO 2023213243 A1 WO2023213243 A1 WO 2023213243A1 CN 2023091649 W CN2023091649 W CN 2023091649W WO 2023213243 A1 WO2023213243 A1 WO 2023213243A1
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Prior art keywords
robot
drive system
joint
electric drive
torque
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English (en)
French (fr)
Inventor
朱世强
谢安桓
周伟刚
孔令雨
华强
程超
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Zhejiang Lab
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Zhejiang Lab
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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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1633—Program controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Program-controlled manipulators characterised by positioning means for manipulator elements electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the invention belongs to the technical field of robot electric drive control, and specifically relates to a robot adaptive variable impedance electric drive system and a control method and device.
  • Robots are widely used in industrial, service and other application fields.
  • collaborative robots need to interact extensively with people and the environment during tasks, and legged robots need to have higher environmental adaptability during movement.
  • the traditional position control method can no longer meet the robot's ability to interact with people or the environment, and the robot needs to have a certain degree of compliance.
  • the electric drive system based on impedance control enables the robot to have certain compliance performance, but the stiffness and damping control parameters of the drive system are often constant. In order to make the robot have more intelligent and compliant performance in a changing environment, it is necessary to implement adaptive variable impedance control on the robot.
  • Robot compliance performance can usually be achieved through passive compliance and active compliance control.
  • the passive compliance method makes the robot have certain compliance performance by designing additional mechanical structures, but it will increase the size of the robot drive system and cannot achieve a wide range of stiffness damping adjustment.
  • Active compliance control can achieve the robot's compliance performance by controlling the motion relationship between the robot's position, speed and force. It is achieved by setting the equivalent stiffness and damping control parameters of the robot. However, a single stiffness and damping control parameter cannot meet the performance of intelligent and compliant interaction between robots and different changing environments.
  • the robot can achieve better compliance performance by adaptive variable impedance control based on the interactive environment.
  • the present invention proposes a robot adaptive variable impedance electric drive system and a control method and device.
  • the technical solution of the present invention is: the first aspect of the embodiment of the present invention provides a control method for a robot adaptive variable impedance electric drive system.
  • the method specifically includes:
  • Acquire electric drive system sensor signals including motor current or drive joint torque, rotational speed and position signals
  • adaptive setting of stiffness parameters includes:
  • the stiffness parameter includes three parameter intervals, and the formula is as follows:
  • K is the set stiffness parameter
  • K c is the stiffness parameter constant setting value
  • ⁇ is the first stiffness parameter adjustment coefficient
  • ⁇ is the second stiffness parameter adjustment coefficient
  • h 1 is the lower limit of the first stiffness parameter adjustment coefficient limit
  • h 2 is the upper limit of the second stiffness parameter adjustment coefficient.
  • calculating the joint damping parameters of the electric drive system based on the driving joint speed and torque includes: initially setting a damping constant, calculating an adaptive damping increment, and superposing the initially set damping constant and the adaptive damping increment to obtain a real-time calculated Joint damping parameters of the electric drive system.
  • the adaptive damping increment is the product of the differential component of the driving joint torque and the weight coefficient.
  • ⁇ is the control moment of the driving joint
  • K is the stiffness parameter
  • q d is the desired position of the driving joint
  • q is the actual position of the driving joint
  • D is the joint damping parameter
  • C is the Coriolis force and centrifugal force terms
  • G is the gravity term.
  • a second aspect of the embodiment of the present invention provides a robot adaptive variable impedance electric drive system, used to implement the above control method of the robot adaptive variable impedance electric drive system, including:
  • the permanent magnet synchronous motor outputs speed and torque after being decelerated by a planetary reducer and amplifying the torque
  • the encoder is installed on the side of the permanent magnet synchronous motor and is used to collect the speed and position signals of the permanent magnet synchronous motor;
  • the adaptive variable impedance controller receives the current, torque, speed and position signals corresponding to the permanent magnet synchronous motor; adaptively sets the stiffness parameters according to the robot motion operation scenario; calculates the joint damping parameters of the electric drive system based on the drive joint speed and torque.
  • the stiffness parameters and joint damping parameters determine the required torque of the joints of the electric drive system, thereby performing closed-loop adaptive control of the robot drive joints based on the impedance control method of the force inner loop.
  • the system further includes a torque sensor, which is arranged at the output end of the planetary reducer and is used to measure the output torque of the drive system.
  • a third aspect of the embodiment of the present invention provides a control device for a robot's adaptive variable impedance electric drive system, which includes one or more processors and is used for the above control method of the robot's adaptive variable impedance electric drive system.
  • a fourth aspect of the embodiment of the present invention provides a computer-readable storage medium on which a program is stored.
  • the program is executed by a processor, it is used to implement the above-mentioned control method of a robot adaptive variable impedance electric drive system.
  • the present invention has the following beneficial effects: the robot's drive system adopts a motor It has better force control performance than the low-speed reducer, and directly uses the active control method to enable the robot to adjust the stiffness and damping of the robot's electric drive joint system online in real time according to the robot motor current or drive joint torque, rotation speed, and robot motion operation requirements. , without the need to add additional flexible mechanical components, to achieve the purpose of making the robot more intelligent and pliable, which is conducive to improving the interactive ability of collaborative robots and the walking ability of footed robots.
  • Figure 1 is a flow chart of the control method of the robot's adaptive variable impedance electric drive system
  • Figure 2 is the composition diagram of the robot's adaptive variable impedance electric drive system
  • Figure 3 shows the impact acceleration of a robot using a position control (no buffer) electric drive system when it jumps and falls to the ground;
  • Figure 4 shows the impact acceleration of a robot using an adaptive variable impedance electric drive system when it jumps and falls to the ground;
  • Figure 5 is a schematic diagram of a control device of a robot adaptive variable impedance electric drive system provided by an embodiment of the present invention.
  • first, second, third, etc. may be used in the present invention to describe various information, the information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other.
  • first information may also be called second information, and similarly, the second information may also be called first information.
  • word “if” as used herein may be interpreted as "when” or “when” or “in response to determining.”
  • the present invention proposes a control method for a robot's adaptive variable impedance electric drive system.
  • the method includes:
  • sensor signals of the electric drive system including motor current or drive joint torque, rotation speed and position signals; the drive joint torque can be measured by a torque sensor or estimated by joint current.
  • the stiffness parameters are adaptively set.
  • the electric drive system provided by the invention includes:
  • the permanent magnet synchronous motor outputs speed and torque after being decelerated by a planetary reducer.
  • the encoder is installed on the side of the permanent magnet synchronous motor and is used to collect the speed and position signals of the permanent magnet synchronous motor.
  • the adaptive variable impedance controller receives the current, torque, speed and position signals corresponding to the permanent magnet synchronous motor; adaptively sets the stiffness parameters according to the robot motion operation scenario; calculates the joint damping parameters of the electric drive system based on the drive joint speed and torque.
  • the stiffness parameters and joint damping parameters determine the required torque of the joints of the electric drive system, thereby performing closed-loop adaptive control of the robot drive joints based on the impedance control method of the force inner loop.
  • the electric drive system provided by the present invention may also include: a torque sensor for measuring the output torque at the reducer end.
  • the adaptive setting stiffness parameters can be expressed as:
  • K is the set stiffness parameter
  • K c is the stiffness parameter constant setting value
  • ⁇ is the first stiffness parameter adjustment coefficient
  • ⁇ is the second stiffness parameter adjustment coefficient
  • h 1 is the lower limit of the first stiffness parameter adjustment coefficient limit
  • h 2 is the upper limit of the second stiffness parameter adjustment coefficient.
  • different levels of stiffness control parameters need to be customized based on the robot's motion working scene information. For example, when the legged robot lands, the smaller stiffness is adaptively adjusted to achieve buffering, and when the legged robot is pedaling, the larger stiffness is adaptively adjusted to obtain Maximum movement speed. And it is necessary to comprehensively and adaptively adjust the stiffness parameter values based on factors such as the weight of the robot itself and actual road conditions.
  • Calculate the joint damping parameters of the electric drive system based on the acquired drive joint speed and torque specifically: initially set a damping constant, calculate the adaptive damping increment, and superimpose the initial set damping constant and the adaptive damping increment to obtain a real-time calculation joint damping parameters of the electric drive system.
  • the adaptive damping increment is the differential component and weight of the driving joint torque. product of coefficients.
  • D is the damping parameter calculated in real time
  • D c is the initial set damping constant
  • Q is the adaptive damping increment
  • eta is the weight coefficient
  • the damping control parameters of the adaptive variable impedance controller can adaptively adjust the appropriate damping parameters in real time according to the rate of change of the torque received.
  • the joint demand torque of the electric drive system is determined according to the stiffness parameters and joint damping parameters, and the robot drive joints are closed-loop adaptive control based on the impedance control method of the force inner loop.
  • the driving joint control torque can be calculated by collecting torque sensor signals or motor current.
  • the joint demand torque of the electric drive system can be expressed as:
  • ⁇ is the driving joint control torque
  • q d is the desired position of the joint
  • q is the actual position of the joint
  • C is the Coriolis force and centrifugal force terms
  • G is the gravity term.
  • Figure 3 shows the impact acceleration of a robot using a position control (no buffering) electric drive system when jumping and falling to the ground
  • Figure 4 shows the impact acceleration of a robot using an adaptive variable impedance electric drive system when it jumps and falls to the ground. It can be seen from the comparison between Figure 3 and Figure 4 that through the method of the present invention, the motion buffering and shock-absorbing ability of the robot when jumping and falling to the ground can be significantly enhanced, and the robot system can adaptively adjust its own control stiffness and damping characteristics according to application requirements in a wide range.
  • the robot driving system of the present invention does not need to add additional mechanical components such as elasticity and damping. It directly changes the stiffness and damping of the robot driving system in real time according to different operating scenarios and tasks through active control methods, making the robot more intelligent.
  • the purpose of compliance is to improve the interaction ability between the robot and the environment, especially the motion buffering and shock-absorbing ability of the footed robot.
  • the present invention also provides embodiments of the control device of the robot's adaptive variable impedance electric drive system.
  • an embodiment of the present invention provides a control device for a robot's adaptive variable impedance electric drive system, which includes one or more processors for realizing control of the robot's adaptive variable impedance electric drive system in the above embodiment. method.
  • Embodiments of the control device of the robot adaptive variable impedance electric drive system of the present invention can be applied to any device with data processing capabilities, and any device with data processing capabilities can be a device or device such as a computer.
  • the device embodiments may be implemented by software, or may be implemented by hardware or a combination of software and hardware.
  • Implemented in software For example, as a logical device, it is formed by reading the corresponding computer program instructions in the non-volatile memory into the memory and running them by the processor of any device with data processing capabilities. From the hardware level, as shown in Figure 5, it is a hardware structure diagram of any device with data processing capabilities where the control device of the robot adaptive variable impedance electric drive system of the present invention is located.
  • any device with data processing capabilities where the device in the embodiment is located may also include other hardware based on the actual functions of any device with data processing capabilities. This is not the case. Again.
  • the device embodiment since it basically corresponds to the method embodiment, please refer to the partial description of the method embodiment for relevant details.
  • the device embodiments described above are only illustrative.
  • the units described as separate components may or may not be physically separated.
  • the components shown as units may or may not be physical units, that is, they may be located in One location, or it can be distributed across multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of the present invention. Persons of ordinary skill in the art can understand and implement the method without any creative effort.
  • Embodiments of the present invention also provide a computer-readable storage medium on which a program is stored.
  • the program is executed by a processor, the control method of the robot's adaptive variable impedance electric drive system in the above embodiments is implemented.
  • the computer-readable storage medium may be an internal storage unit of any device with data processing capabilities as described in any of the foregoing embodiments, such as a hard disk or a memory.
  • the computer-readable storage medium can also be any device with data processing capabilities, such as a plug-in hard disk, smart memory card (SMC), SD card, flash card (Flash Card) equipped on the device wait.
  • the computer-readable storage medium may also include both an internal storage unit and an external storage device of any device with data processing capabilities.
  • the computer-readable storage medium is used to store the computer program and other programs and data required by any device with data processing capabilities, and can also be used to temporarily store data that has been output or is to be output.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Feedback Control In General (AREA)
  • Manipulator (AREA)

Abstract

一种机器人自适应变阻抗电驱动系统及其控制方法，包括：获取包括电机电流或驱动关节力矩、转速及位置信号在内的电驱动系统传感器信号；根据机器人运动作业场景，自适应设置刚度参数；根据驱动关节转速和力矩计算电驱动系统关节阻尼参数，根据刚度参数和关节阻尼参数确定电驱动系统关节需求力矩，以此基于力内环的阻抗控制方式对机器人驱动关节进行闭环自适应控制。该机器人驱动系统无需增加额外弹性和阻尼等机械元件，直接通过主动控制的方法在线实时改变机器人驱动系统的刚度与阻尼使机器人达到更智能柔顺的目的，有利于提高机器人与环境的交互能力特别是足式机器人运动缓冲减震能力。还涉及一种机器人自适应变阻抗电驱动系统、计算机可读存储介质。

Description

一种机器人自适应变阻抗电驱动系统及控制方法、装置 技术领域
本发明属于机器人电驱动控制技术领域，具体涉及一种机器人自适应变阻抗电驱动系统及控制方法、装置。
背景技术
机器人广泛应用于工业、服务等应用领域。对于协作与足式机器人，协作机器人在作业任务时需要与人和环境大量交互，足式机器人在运动过程中需要具备更高的环境适应性。传统的位置控制方式已不能满足机器人与人或环境交互能力，机器人需要具备一定的柔顺性能。基于阻抗控制的电驱动系统使机器人能够具备一定的柔顺性能，但驱动系统刚度与阻尼控制参数往往是恒定的。为使机器人在变化的环境中具备更智能的柔顺性能，需要对机器人进行自适应变阻抗控制。
机器人柔顺性能通常可以通过被动柔顺和主动柔顺控制实现。被动柔顺方式通过设计额外的机械结构使机器人具备一定的柔顺性能，但会使机器人驱动系统体积增大并且不能实现较大范围的刚度阻尼调节。主动柔顺控制可以通过控制机器人位置、速度及力三者运动关系来实现机器人的柔顺性能，其通过设定机器人的等效刚度与阻尼控制参数来实现。但单一的刚度与阻尼控制参数并不能满足机器人与变化的不同环境智能柔顺交互的性能。机器人根据交互环境进行自适应变阻抗控制能达到更好的柔顺性能。
发明内容
针对现有技术的不足，本发明提出了一种机器人自适应变阻抗电驱动系统及控制方法、装置。
为实现上述发明目的，本发明的技术方案为：本发明实施例的第一方面提供了一种机器人自适应变阻抗电驱动系统的控制方法，所述方法具体包括：
获取包括电机电流或驱动关节力矩、转速及位置信号在内的电驱动系统传感器信号；
根据机器人运动作业场景，自适应设置刚度参数；
根据驱动关节转速和力矩计算电驱动系统关节阻尼参数，根据刚度参数和关节阻尼参数确定电驱动系统关节需求力矩，以此基于力内环的阻抗控制方式对机器人驱动关节进行闭环自适应控制。
进一步地，自适应设置刚度参数包括：
刚度参数包括三个参数区间，公式如下：
式中，K为设定的刚度参数，Kc为刚度参数常量设定值，α为第一刚度参数调节系数，β为第二刚度参数调节系数，h1为第一刚度参数调节系数的下限值，h2为第二刚度参数调节系数的上限值。
进一步地，根据驱动关节转速和力矩计算电驱动系统关节阻尼参数包括：初始设定一阻尼常量，计算自适应阻尼增量，将初始设定的阻尼常量与自适应阻尼增量叠加得到实时计算的电驱动系统关节阻尼参数。
进一步地，自适应阻尼增量为驱动关节力矩的微分量与权重系数的乘积。
进一步地，根据计算的刚度参数和关节阻尼参数确定电驱动系统关节需求力矩的公式如下：
其中，τ为驱动关节控制力矩，K为刚度参数，qd为驱动关节期望位置，q为驱动关节实际位置，D为关节阻尼参数，C为科氏力与离心力项，G为重力项。
本发明实施例的第二方面提供了一种机器人自适应变阻抗电驱动系统，用于实现上述的机器人自适应变阻抗电驱动系统的控制方法，包括：
永磁同步电机，经行星减速器减速、放大力矩后输出转速和力矩；
编码器，安装在永磁同步电机侧，用于采集永磁同步电机的转速及位置信号；
自适应变阻抗控制器，接收永磁同步电机对应的电流、力矩、转速及位置信号；根据机器人运动作业场景，自适应设置刚度参数；根据驱动关节转速和力矩计算电驱动系统关节阻尼参数，根据刚度参数和关节阻尼参数确定电驱动系统关节需求力矩，以此基于力内环的阻抗控制方式对机器人驱动关节进行闭环自适应控制。
进一步地，所述系统还包括力矩传感器，设置于行星减速器的输出端，用于测量驱动系统的输出力矩。
本发明实施例的第三方面提供了一种机器人自适应变阻抗电驱动系统的控制装置，包括一个或多个处理器，用于上述的机器人自适应变阻抗电驱动系统的控制方法。
本发明实施例的第四方面提供了一种计算机可读存储介质，其上存储有程序，该程序被处理器执行时，用于实现上述的机器人自适应变阻抗电驱动系统的控制方法。
本发明与传统机器人电驱动系统相比具有以下有益效果：机器人的驱动系统采用电机 与低速比减速器具有更好的力控性能，并且直接通过主动控制的方法使机器人能够根据机器人电机电流或驱动关节力矩、转速以及机器人运动作业需求，在线实时调整机器人电驱动关节系统刚度与阻尼，无需增加额外的柔性机械元件，达到使机器人更智能柔顺的目的，有利于提高协作机器人交互能力和足式机器人运动行走能力。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是机器人自适应变阻抗电驱动系统控制方法流程图；
图2是机器人自适应变阻抗电驱动系统组成图；
图3是采用位置控制(无缓冲)电驱动系统机器人跳跃跌落地面冲击加速度；
图4是采用自适应变阻抗电驱动系统机器人跳跃跌落地面冲击加速度；
图5是本发明实施例提供的一种机器人自适应变阻抗电驱动系统的控制装置的示意图。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本发明相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本发明的一些方面相一致的装置和方法的例子。
在本发明使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本发明。在本发明和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。
应当理解，尽管在本发明可能采用术语第一、第二、第三等来描述各种信息，但这些信息不应限于这些术语。这些术语仅用来将同一类型的信息彼此区分开。例如，在不脱离本发明范围的情况下，第一信息也可以被称为第二信息，类似地，第二信息也可以被称为第一信息。取决于语境，如在此所使用的词语“如果”可以被解释成为“在……时”或“当……时”或“响应于确定”。
下面结合附图，对本发明进行详细说明。在不冲突的情况下，下述的实施例及实施方式中的特征可以相互组合。
如图1所示，本发明提出了一种机器人自适应变阻抗电驱动系统控制方法，所述方法包括：
获取包括电机电流或驱动关节力矩、转速及位置信号在内的电驱动系统传感器信号；其中，驱动关节力矩可以通过力矩传感器测量，或通过关节电流估计。
根据机器人运动作业场景，自适应设置刚度参数。
根据驱动关节转速和力矩计算电驱动系统关节阻尼参数，根据预设的刚度参数和关节阻尼参数确定电驱动系统关节需求力矩，以此基于力内环的阻抗控制方式对机器人驱动关节进行闭环自适应控制。
本发明提供的电驱动系统包括：
永磁同步电机，经行星减速器减速后输出转速和力矩。
编码器，安装在永磁同步电机侧，用于采集永磁同步电机的转速及位置信号。
自适应变阻抗控制器，接收永磁同步电机对应的电流、力矩、转速及位置信号；根据机器人运动作业场景，自适应设置刚度参数；根据驱动关节转速和力矩计算电驱动系统关节阻尼参数，根据刚度参数和关节阻尼参数确定电驱动系统关节需求力矩，以此基于力内环的阻抗控制方式对机器人驱动关节进行闭环自适应控制。
进一步地，本发明提供的电驱动系统还可包括：力矩传感器，用于测量减速器端输出力矩。
其中，自适应设置刚度参数可以表示为：
式中，K为设定的刚度参数，Kc为刚度参数常量设定值，α为第一刚度参数调节系数，β为第二刚度参数调节系数，h1为第一刚度参数调节系数的下限值，h2为第二刚度参数调节系数的上限值。本实例中，需要根据机器人运动作业场景信息自定义设定不同等级的刚度控制参数，例如在足式机器人在落地时自适应调整较小刚度以实现缓冲，蹬地时自适应调整较大刚度获得较大运动速度。并且还需基于机器人本身的重量以及实际路况等因素来综合自适应调节刚度参数值。
根据获取的驱动关节转速和力矩计算电驱动系统关节阻尼参数，具体为：初始设定一阻尼常量，计算自适应阻尼增量，将初始设定的阻尼常量与自适应阻尼增量叠加得到实时计算的电驱动系统关节阻尼参数。其中，自适应阻尼增量为驱动关节力矩的微分量与权重 系数的乘积。
电驱动系统关节阻尼参数可以表示为：
D＝Dc+Q
式中，D为实时计算的阻尼参数，Dc为初始设定阻尼常量，Q为自适应阻尼增量，η为权重系数，为驱动关节力矩微分量。在本实例中，自适应变阻抗控制器阻尼控制参数可以根据所受力矩变化速率自适应实时调整合适的阻尼参数。
根据刚度参数和关节阻尼参数确定电驱动系统关节需求力矩，以此基于力内环的阻抗控制方式对机器人驱动关节进行闭环自适应控制。
其中，驱动关节控制力矩可以通过采集力矩传感器信号或者电机电流计算而得。
电驱动系统关节需求力矩可以表示为：
其中τ为驱动关节控制力矩，qd为关节期望位置，q为关节实际位置，C为科氏力与离心力项，G为重力项。
图3是采用位置控制(无缓冲)电驱动系统机器人跳跃跌落地面冲击加速度；图4是采用自适应变阻抗电驱动系统机器人跳跃跌落地面冲击加速度。由图3和图4对比可知，通过本发明方法处理，可以使机器人跳跃跌落地面的运动缓冲减震能力明显增强，且机器人系统可以较大范围根据应用需求自适应调节自身控制刚度与阻尼特性。
综上所述，本发明机器人驱动系统无需增加的额外弹性和阻尼等机械元件，直接通过主动控制的方法根据不同的作业场景、作业任务在线实时改变机器人驱动系统的刚度与阻尼使机器人达到更智能柔顺的目的，有利于提高机器人与环境的交互能力特别是足式机器人运动缓冲减震能力。
与前述机器人自适应变阻抗电驱动系统的控制方法的实施例相对应，本发明还提供了机器人自适应变阻抗电驱动系统的控制装置的实施例。
参见图5，本发明实施例提供的一种机器人自适应变阻抗电驱动系统的控制装置，包括一个或多个处理器，用于实现上述实施例中的机器人自适应变阻抗电驱动系统的控制方法。
本发明机器人自适应变阻抗电驱动系统的控制装置的实施例可以应用在任意具备数据处理能力的设备上，该任意具备数据处理能力的设备可以为诸如计算机等设备或装置。装置实施例可以通过软件实现，也可以通过硬件或者软硬件结合的方式实现。以软件实现为 例，作为一个逻辑意义上的装置，是通过其所在任意具备数据处理能力的设备的处理器将非易失性存储器中对应的计算机程序指令读取到内存中运行形成的。从硬件层面而言，如图5所示，为本发明机器人自适应变阻抗电驱动系统的控制装置所在任意具备数据处理能力的设备的一种硬件结构图，除了图5所示的处理器、内存、网络接口、以及非易失性存储器之外，实施例中装置所在的任意具备数据处理能力的设备通常根据该任意具备数据处理能力的设备的实际功能，还可以包括其他硬件，对此不再赘述。
上述装置中各个单元的功能和作用的实现过程具体详见上述方法中对应步骤的实现过程，在此不再赘述。
对于装置实施例而言，由于其基本对应于方法实施例，所以相关之处参见方法实施例的部分说明即可。以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本发明方案的目的。本领域普通技术人员在不付出创造性劳动的情况下，即可以理解并实施。
本发明实施例还提供一种计算机可读存储介质，其上存储有程序，该程序被处理器执行时，实现上述实施例中的机器人自适应变阻抗电驱动系统的控制方法。
所述计算机可读存储介质可以是前述任一实施例所述的任意具备数据处理能力的设备的内部存储单元，例如硬盘或内存。所述计算机可读存储介质也可以是任意具备数据处理能力的设备，例如所述设备上配备的插接式硬盘、智能存储卡(Smart Media Card，SMC)、SD卡、闪存卡(Flash Card)等。进一步的，所述计算机可读存储介质还可以既包括任意具备数据处理能力的设备的内部存储单元也包括外部存储设备。所述计算机可读存储介质用于存储所述计算机程序以及所述任意具备数据处理能力的设备所需的其他程序和数据，还可以用于暂时地存储已经输出或者将要输出的数据。
以上应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。

Claims (9)

  1. 一种机器人自适应变阻抗电驱动系统的控制方法，其特征在于，所述方法具体包括：
    获取包括电机电流或驱动关节力矩、转速及位置信号在内的电驱动系统传感器信号；
    根据机器人运动作业场景，自适应设置刚度参数；
    根据驱动关节转速和力矩计算电驱动系统关节阻尼参数，根据刚度参数和关节阻尼参数确定电驱动系统关节需求力矩，以此基于力内环的阻抗控制方式对机器人驱动关节进行闭环自适应控制。
  2. 根据权利要求1所述的机器人自适应变阻抗电驱动系统的控制方法，其特征在于，自适应设置刚度参数包括：
    刚度参数包括三个参数区间，公式如下：
    式中，K为设定的刚度参数，Kc为刚度参数常量设定值，α为第一刚度参数调节系数，β为第二刚度参数调节系数，h1为第一刚度参数调节系数的下限值，h2为第二刚度参数调节系数的上限值。
  3. 根据权利要求1所述的机器人自适应变阻抗电驱动系统的控制方法，其特征在于，根据驱动关节转速和力矩计算电驱动系统关节阻尼参数包括：初始设定一阻尼常量，计算自适应阻尼增量，将初始设定的阻尼常量与自适应阻尼增量叠加得到实时计算的电驱动系统关节阻尼参数。
  4. 根据权利要求3所述的机器人自适应变阻抗电驱动系统的控制方法，其特征在于，自适应阻尼增量为驱动关节力矩的微分量与权重系数的乘积。
  5. 根据权利要求1所述的机器人自适应变阻抗电驱动系统的控制方法，其特征在于，根据计算的刚度参数和关节阻尼参数确定电驱动系统关节需求力矩的公式如下：
    其中，τ为驱动关节控制力矩，K为刚度参数，qd为驱动关节期望位置，q为驱动关节实际位置，D为关节阻尼参数，C为科氏力与离心力项，G为重力项。
  6. 一种机器人自适应变阻抗电驱动系统，用于实现权利要求1～5所述的机器人自适应 变阻抗电驱动系统的控制方法，其特征在于，包括：
    永磁同步电机，经行星减速器减速、放大力矩后输出转速和力矩；
    编码器，安装在永磁同步电机侧，用于采集永磁同步电机的转速及位置信号；
    自适应变阻抗控制器，接收永磁同步电机对应的电流、力矩、转速及位置信号；根据机器人运动作业场景，自适应设置刚度参数；根据驱动关节转速和力矩计算电驱动系统关节阻尼参数，根据刚度参数和关节阻尼参数确定电驱动系统关节需求力矩，以此基于力内环的阻抗控制方式对机器人驱动关节进行闭环自适应控制。
  7. 根据权利要求6所述的机器人自适应变阻抗电驱动系统，其特征在于，所述系统还包括力矩传感器，设置于行星减速器的输出端，用于测量驱动系统的输出力矩。
  8. 一种机器人自适应变阻抗电驱动系统的控制装置，其特征在于，包括一个或多个处理器，用于实现权利要求1-5中任一项所述的机器人自适应变阻抗电驱动系统的控制方法。
  9. 一种计算机可读存储介质，其上存储有程序，其特征在于，该程序被处理器执行时，用于实现权利要求1-5中任一项所述的机器人自适应变阻抗电驱动系统的控制方法。
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CN118651456A (zh) * 2024-05-31 2024-09-17 燕山大学 适应不平整工况的液压多腿无人机起落架控制方法
CN119036508A (zh) * 2024-10-30 2024-11-29 中国科学技术大学 关节模组及机器人
CN119347739A (zh) * 2024-12-04 2025-01-24 深圳安纳赫科技有限公司 一种机器人驱动设备
CN119871391A (zh) * 2024-12-31 2025-04-25 江苏集萃智能制造技术研究所有限公司 一种用于液压四足支撑卸力的自适应变阻抗算法
CN119871391B (zh) * 2024-12-31 2026-03-27 江苏集萃智能制造技术研究所有限公司 一种用于液压四足支撑卸力的自适应变阻抗算法
CN120000389A (zh) * 2025-04-22 2025-05-16 浙江强脑科技有限公司 一种阻尼关节及其控制方法、假肢及机器人
CN121374637A (zh) * 2025-12-22 2026-01-23 季华实验室 飞行机器人柔顺控制方法、装置、电子设备及存储介质
CN121374637B (zh) * 2025-12-22 2026-04-21 季华实验室 飞行机器人柔顺控制方法、装置、电子设备及存储介质

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