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WO2017022893A1 - Système et procédé de commande de robot redondant pour améliorer la rigidité dans un espace de travail, et support d'enregistrement ayant un programme lisible par ordinateur pour exécuter le procédé - Google Patents

Système et procédé de commande de robot redondant pour améliorer la rigidité dans un espace de travail, et support d'enregistrement ayant un programme lisible par ordinateur pour exécuter le procédé Download PDF

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Publication number
WO2017022893A1
WO2017022893A1 PCT/KR2015/012527 KR2015012527W WO2017022893A1 WO 2017022893 A1 WO2017022893 A1 WO 2017022893A1 KR 2015012527 W KR2015012527 W KR 2015012527W WO 2017022893 A1 WO2017022893 A1 WO 2017022893A1
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WO
WIPO (PCT)
Prior art keywords
robot
information
excitation
workspace
stiffness
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Ceased
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PCT/KR2015/012527
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English (en)
Korean (ko)
Inventor
조창노
김홍주
최성희
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Korea Electrotechnology Research Institute KERI
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Korea Electrotechnology Research Institute KERI
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Publication of WO2017022893A1 publication Critical patent/WO2017022893A1/fr
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Ceased legal-status Critical Current

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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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine

Definitions

  • the present invention relates to a robot control system and method, and more particularly to a control system and method of an excitation robot having a degree of freedom.
  • the machine In general, the machine is mainly used for mass production of precision parts, and its use is continuously expanding. However, since the machine is expensive and difficult to apply to various environments, attempts to replace it have continued.
  • robot manipulators Machining using a robot manipulator is typical, and robot manipulators are expected to be able to solve problems of existing machines because they are easy to apply in various environments and inexpensive.
  • the first method is to predict the position error of the robot and compensate for it by using the joint stiffness model of the robot and the external force information applied during machining.
  • FIG. 1 is a view schematically showing an example of a position error measurement and compensation algorithm for increasing rigidity during operation of a conventional robot manipulator.
  • this method requires the robot's exact gravity model and stiffness model, and the accuracy of these models greatly affects the compensation accuracy. Therefore, this stiffness and gravity model is inconvenient to be measured through a separate process. In addition, an expensive 6 DOF Force torque sensor is required to measure external forces during machining, which increases the price of the entire system.
  • the second method is to compensate for the position error due to the deformation of the robot by using an active mechanism having a high dynamic performance in addition to the robot manipulator.
  • two robots are cooperatively controlled so that the robot manipulator takes care of the workpiece and the active mechanism compensates for the positional error of the robot during the machining.
  • 2 shows an example of a position error compensation system of a robot using an additional active mechanism.
  • this method requires a separate mechanism in addition to the robot manipulator, there is a problem that the entire system is complicated and the price is high.
  • the two methods differ in the method of measuring the position error of the robot manipulator, they have a common point in that they measure the position error of the robot based on model and sensor information and perform compensation control based on this. Therefore, the compensation performance of these methods is greatly affected by the robot's own stiffness and the accuracy of sensor information.
  • the present invention has been made to solve the above-mentioned conventional problems, a control system that can effectively increase the stiffness in the work space of the robot manipulator without additional devices or complicated operations for position control of the robot, and control It is an object to provide a method.
  • the excitation robot control system includes an input information setting unit, a position control information generation unit, a work space stiffness information generation unit, a posture control information generation unit, and a joint control information generation unit. .
  • the input information setting unit sets the workspace position information, the joint space stiffness information, the work direction information of the excitation robot, and the position control information generator generates the workspace position control information of the excitation robot using the workspace position information.
  • the work space stiffness information generating unit generates the stiffness information in the work space of the induction robot using the joint space stiffness information of the induction robot, and the posture control information generating unit stiffness information and the work direction information in the work space of the induction robot.
  • the joint control information generator generates the joint control information of the excitation robot using the workspace position control information and the posture control information.
  • the excitation robot control system may further include a joint space stiffness information generating unit for generating the joint space stiffness information of the excitation robot from the stiffness data of each joint of the excitation robot, the joint space stiffness information of the excitation robot (K joint ) is Calculated using the equation, K 1 to K n may be the stiffness data of each joint of the excitation robot.
  • the excitation robot control system can generate joint space stiffness information of the excitation robot from each joint stiffness data of the excitation robot measured experimentally or obtained from a manual.
  • stiffness (K cartesian ) information in the work space of the induction robot Calculated using Equation 2, J is a Jacobian of the robot, -1 is an inverse matrix, and T can be a transpose matrix. According to such a configuration, it is possible to obtain the stiffness information in the work space of the excitation robot required for posture control in the work space from the joint space stiffness information of the excitation robot.
  • Posture control information ( ) Calculated by the equation of, where n n is the identity matrix, n is the degree of freedom of the excitation robot, + is the pseudo inverse, K 0 is the preset gain, And, F unit may be a unit vector (unit vector) in the working direction in the workspace of the excitation robot. According to such a configuration, it is possible to set an objective function that can maximize the stiffness in the work direction in the work space of the excitation robot from the stiffness information in the work space of the excitation robot.
  • Workspace location control information ( ), Calculated by the equation May be the workspace velocity vector of the excitation robot.
  • the apparatus may further include a workspace velocity vector calculator configured to calculate a workspace velocity vector of the excitation robot from the workspace position information of the excitation robot.
  • the workspace position control information of the excitation robot can be calculated from the workspace trajectory of the robot input by the user.
  • the rigidity of the robot manipulator in the working space of the robot manipulator without additional devices or complicated operations for position control of the robot is controlled. It can be increased effectively.
  • the excitation robot control system can generate joint space stiffness information of the excitation robot from each joint stiffness data of the excitation robot measured experimentally or obtained from the manual.
  • the workspace position control information of the excitation robot can be calculated from the workspace trajectory of the robot input by the user.
  • FIG. 1 is a view schematically showing an example of a position error measurement and compensation algorithm for increasing rigidity during operation of a conventional robot manipulator.
  • FIG. 2 shows an example of a position error compensation system of a robot using an additional active mechanism.
  • Figure 3 is a schematic block diagram of an excitation robot control system according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram illustrating a robot motion control concept using Jacobian.
  • 5 is a schematic diagram of an algorithm for performing an excitation-guided robot control method according to an embodiment of the present invention.
  • 6 is a table listing the input and output of the algorithm.
  • FIG. 7 is a schematic diagram of a three degree of freedom robot for simulation.
  • FIG. 8 is a diagram illustrating a change in posture of a robot according to stiffness optimization.
  • Figure 9 is a graph showing the position error reduction according to the posture change of the excitation robot.
  • 10 is a graph showing the position error with respect to the external force of the moving robot.
  • FIG. 3 is a schematic block diagram of an excitation robot control system according to an embodiment of the present invention.
  • the excitation robot control system 100 includes an input information setting unit 110, a position control information generating unit 120, a work space stiffness information generating unit 130, a posture control information generating unit 140, and joint control information generation.
  • the unit 150 includes a joint space stiffness information generator 160 and a workspace velocity vector calculator 170.
  • each component of the excitation robot control system 100 may be composed of only hardware, it will be generally implemented in software operating on the hardware.
  • the input information setting unit 110 sets work space position information, joint space stiffness information, and work direction information of the excitation robot.
  • the joint space stiffness information generation unit 160 generates the joint space stiffness information of the excitation robot from the stiffness data of each joint of the excitation robot. According to this configuration, even when the induction robot control system 100 does not directly receive the joint space stiffness information, the joint space stiffness of the excitation robot from the joint stiffness data of the excitation robot experimentally measured or obtained from the manual Information can be created and set.
  • the workspace velocity vector calculator 170 calculates the workspace velocity vector of the excitation robot from the workspace position information of the excitation robot. According to such a configuration, it is possible to calculate a workspace velocity vector, which is information directly necessary for controlling the workspace position of the excitation robot, from the workspace trajectory of the excitation robot input by the user.
  • the position control information generation unit 120 generates the workspace position control information of the excitation robot using the workspace position information
  • the workspace stiffness information generation unit 130 uses the joint space stiffness information of the excitation robot.
  • the stiffness information is generated in the work space of the excitation robot
  • the posture control information generation unit 140 uses the stiffness information and the work direction information in the work space of the excitation robot to move from the work space of the excitation robot to the work direction.
  • the posture control information is generated to maximize the rigidity of the joint.
  • the joint control information generation unit 150 generates the joint control information of the excitation robot using the workspace position control information and the posture control information.
  • FIG. 3 will be described in detail with more specific examples.
  • the end-effector of a robot has six degrees of freedom (three positional degrees of freedom for three axes of X, Y, and Z and three degrees of freedom of rotation through rotation about each axis). They have six joints.
  • Excitation induction robot is a robot having six or more joints, unlike the conventional robot, when using this induction, there are infinite solutions to inverse kinematics.
  • the excitation robot can approach various postures with respect to a given distal target position.
  • the robot can be minimized by the external force if the robot is controlled by the solution that can maximize the rigidity in the working direction among the infinite inverse kinematic solutions of the excitation robot during machining.
  • the present invention proposes an algorithm for such control. According to this method, it is possible to easily apply to an existing robot without additional costs because no additional sensor or mechanism is required, and it is possible to minimize the position error of the robot without accurate rigidity and external force information.
  • Jacobian is widely used for robot control because it can be easily derived from the robot's mechanical configuration.
  • a robot having no general excitation can be controlled using Equation 1 using Jacobian.
  • the robot joint space velocity vector, J the robot Jacobian and Is the robot workspace velocity vector Set the workspace trajectory of the user's desired robot and use the trajectory generator to create a robot workspace velocity vector from it. Can be calculated.
  • This is a robot joint vector according to Equation 1
  • the robot performs this motion by controlling the actuators of each joint of the robot by converting to.
  • 4 is a diagram schematically illustrating a robot motion control concept using Jacobian.
  • the excitation robot can also be controlled using Jacobian, where the control equation can be defined as follows.
  • I n is the identity matrix
  • n is the robot's degree of freedom
  • + is the pseudo inverse
  • T is the transpose matrix and -1 is the matrix inverse matrix.
  • Equation 2 is compared with Equation 1, which is a general six degree of freedom robot control equation.
  • Equation 1 is a general six degree of freedom robot control equation
  • k o is the gain and w (q) is the objective function.
  • the objective function w (q) is maximized, and in the present invention, the following objective function is maximized to maximize the rigidity of the robot. present.
  • K - 1 cartesian represents the deformation of the robot in the workspace due to the external force applied, and therefore, it can be seen that the deformation in the robot workspace is minimized by using Equation 5.
  • K cartesian is the rigidity in the robot workspace and F unit is the unit vector in the direction of the work.
  • This K cartesian can be calculated by Equation 6 and the robot joint space stiffness K joint is defined in Equation 7.
  • K i in Equation 7 is the rigidity of each joint of the robot, which can be experimentally measured or verified in the manual of the robot and the reducer.
  • FIG. 5 is a schematic diagram of an algorithm for performing an excitation induction robot control method according to an embodiment of the present invention.
  • Equation 2 is calculated.
  • the inputs and outputs of the algorithm of FIG. 5 are defined in the table of FIG. 6. 6 is a table listing the input and output of the algorithm.
  • control algorithm proposed in the present invention does not require a large amount of computation, and thus can be easily applied to existing robots. In addition, it does not require any external force information due to machining, eliminating the need for additional sensors and costs, as well as selecting the direction of stiffness to maximize by adjusting the F unit .
  • FIG. 7 is a schematic diagram of a three degree of freedom robot for simulation.
  • FIG. 8. 8 is a diagram illustrating a change in posture of a robot according to stiffness optimization. In FIG. 8, the position of the robot distal end is the same but it can be confirmed that the robot posture is optimized.
  • FIG. 9 is a graph illustrating a reduction in position error according to a change in posture of an excitation robot.
  • the two graphs show the position errors of the X and Y axes, respectively.
  • the position error decreases with respect to the same external force as the posture changes.
  • the position error was reduced by 18.3% and 47.7% for each axis.
  • FIG. 10 is a graph illustrating a position error with respect to an external force of a moving robot.
  • the present invention can be extended as follows.
  • the rigidity control of the robot is applicable not only to machining but also to various fields.
  • the robot can predict the collision with the object for the safety of collision between the robot and the object, but when it is difficult to avoid, it is also possible to control the impact amount by minimizing the rigidity in the collision direction.
  • the excitation control using the robot Jacobian is proposed as a method of stiffness maximization, but the excitation robot control can be implemented by various algorithms, and at this time, an objective function similar to the method proposed by the present invention is used. Work space stiffness control is possible.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

L'invention concerne un système de commande de robot redondant qui comprend une unité de réglage d'informations d'entrée, une unité de génération d'informations de commande d'emplacement, une unité de génération d'informations de rigidité d'espace de travail, une unité de génération d'informations de commande de posture, et une unité de génération d'informations de commande d'articulation. L'unité de réglage d'informations d'entrée définit des informations d'emplacement d'espace de travail, des informations de rigidité d'espace d'articulation et des informations de direction de travail d'un robot redondant; l'unité de génération d'informations de commande d'emplacement génère des informations de commande d'emplacement d'espace de travail du robot redondant en utilisant les informations d'emplacement d'espace de travail; l'unité de génération d'informations de rigidité d'espace de travail génère des informations de rigidité du robot redondant dans l'espace de travail en utilisant les informations de rigidité d'espace d'articulation du robot redondant; l'unité de génération d'informations de commande de posture génère des informations de commande de posture pour maximiser la rigidité du robot redondant dans une direction de travail dans l'espace de travail en utilisant les informations de direction de travail et les informations de rigidité du robot redondant dans l'espace de travail; et l'unité de génération d'informations de commande d'articulation génère des informations de commande d'articulation du robot redondant en utilisant les informations de commande d'emplacement d'espace de travail et les informations de commande de posture.
PCT/KR2015/012527 2015-08-04 2015-11-20 Système et procédé de commande de robot redondant pour améliorer la rigidité dans un espace de travail, et support d'enregistrement ayant un programme lisible par ordinateur pour exécuter le procédé Ceased WO2017022893A1 (fr)

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KR1020150109960A KR102312368B1 (ko) 2015-08-04 2015-08-04 여자유도 로봇 제어 시스템, 방법, 및 상기 방법을 실행시키기 위한 컴퓨터 판독 가능한 프로그램을 기록한 기록 매체
KR10-2015-0109960 2015-08-04

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Cited By (2)

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CN107962566A (zh) * 2017-11-10 2018-04-27 浙江科技学院 一种移动机械臂重复运动规划方法
CN109108983A (zh) * 2018-10-12 2019-01-01 中国航天空气动力技术研究院 基于分拣工艺的机械手轨迹规划方法

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KR102332131B1 (ko) * 2019-10-08 2021-11-30 한국과학기술연구원 최소 영공간 작업의 매개변수화 방법
CN111409077B (zh) * 2020-05-09 2021-06-15 南京工程学院 一种基于关节角代偿的机器人末端多目标位姿逼近方法
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WO2023054751A1 (fr) * 2021-09-28 2023-04-06 한국생산기술연구원 Procédé de commande de robot à l'aide d'un algorithme de commande de contour
KR102591945B1 (ko) * 2021-09-28 2023-10-24 한국생산기술연구원 로봇 강성 유지 자세를 구현하는 가공 장치 및 이를 이용한 로봇 강성 유지 자세를 구현하는 가공 방법
KR102582430B1 (ko) * 2021-09-28 2023-09-27 한국생산기술연구원 레이저 트래커 피드백을 이용한 로봇 제어 방법 및 장치
KR102591942B1 (ko) * 2021-09-29 2023-10-24 한국생산기술연구원 강성 모델과 절삭력 모델을 이용한 로봇 제어 방법 및 장치

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Publication number Priority date Publication date Assignee Title
CN107962566A (zh) * 2017-11-10 2018-04-27 浙江科技学院 一种移动机械臂重复运动规划方法
CN109108983A (zh) * 2018-10-12 2019-01-01 中国航天空气动力技术研究院 基于分拣工艺的机械手轨迹规划方法

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