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WO2021208499A1 - Procédé et appareil de commande de mouvements de robot - Google Patents

Procédé et appareil de commande de mouvements de robot Download PDF

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Publication number
WO2021208499A1
WO2021208499A1 PCT/CN2020/139942 CN2020139942W WO2021208499A1 WO 2021208499 A1 WO2021208499 A1 WO 2021208499A1 CN 2020139942 W CN2020139942 W CN 2020139942W WO 2021208499 A1 WO2021208499 A1 WO 2021208499A1
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WO
WIPO (PCT)
Prior art keywords
target
force
sensor
moment
contact force
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2020/139942
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English (en)
Chinese (zh)
Inventor
万文洁
郭东生
张雷
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Gree Electric Appliances Inc of Zhuhai
Zhuhai Gree Intelligent Equipment Co Ltd
Original Assignee
Gree Electric Appliances Inc of Zhuhai
Zhuhai Gree Intelligent Equipment Co Ltd
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Publication date
Application filed by Gree Electric Appliances Inc of Zhuhai, Zhuhai Gree Intelligent Equipment Co Ltd filed Critical Gree Electric Appliances Inc of Zhuhai
Publication of WO2021208499A1 publication Critical patent/WO2021208499A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme 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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme 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
    • B25J9/1697—Vision controlled systems

Definitions

  • the invention relates to the field of intelligent robots, and in particular to a method and device for controlling robot movement.
  • the force control mode of most industrial robot controllers is in the form of providing force control add-on packages.
  • this work mode there are more parts of manual participation, the work intensity of the staff is greater, and the control efficiency of the robot is low.
  • the main purpose of the present invention is to provide a method and device for controlling robot motion to solve the problem that the perception and control of the robot's force in the related technology is realized by providing a force control add-on package, which leads to the low efficiency of the robot. problem.
  • a method for controlling the movement of a robot includes: collecting the first contact force and first torque of the robot's end manipulator and the external environment through the sensor; performing zero point compensation operation on the sensor; after performing the zero point compensation operation on the sensor, according to the first contact force and first torque , Calculate the target contact force and target torque of the end manipulator; according to the target contact force and target torque, control the position of the end manipulator to convert to the target pose.
  • the method further includes: converting the coordinate system based on the first contact force and the first moment into a target coordinate system, wherein the target coordinate The system is the tool coordinate system of the robot.
  • performing a zero point compensation operation on the sensor includes: obtaining a rotation matrix of the first gravity and the tool coordinate system relative to the base coordinate system, where the first gravity is the overall gravity of the sensor and the end manipulator; according to the first gravity and rotation Matrix, determine the second gravity, where the second gravity is the gravity in the base coordinate system; according to the rotation matrix and the second gravity, determine the third gravity and the second moment, where the third gravity is the sensor and the end manipulator
  • the overall gravity in the tool coordinate system, and the second moment is the moment generated by the third gravity in the tool coordinate system.
  • calculating the target contact force and the target torque of the end manipulator according to the first contact force includes: obtaining the first initial force and the third torque, where the first initial force is the sensor For the force generated at the initial position, the third torque is the torque corresponding to the first initial force; the second initial force and the fourth torque are obtained, where the second initial force is the force generated by the end effector and the sensor as a whole at the initial position, The fourth moment is the moment corresponding to the second initial force; the target initial force of the sensor at the initial position is calculated according to the first initial force and the second initial force; the target initial force of the sensor at the initial position is calculated according to the third and fourth moments Initial torque; calculate the target contact force based on the first contact force, the target initial force and the third gravity; calculate the target torque based on the first contact torque, the target initial torque and the second moment.
  • the method further includes: sending the target contact force and the target torque to the sensor data image area; Collect the target contact force and target torque in the image area of the sensor data, and calculate the position and attitude control amount of the end manipulator according to the target contact force and target torque.
  • controlling the pose of the end manipulator to convert to the target pose includes: generating a control command and writing the control command into the command buffer according to the pose control amount of the end manipulator;
  • the interpolator task reads the control command and transmits the end manipulator angle contained in the pose control value to the servo image area; when the next servo cycle starts, the pose control value is sent to the servo motor; through the servo motor Drive the posture of the control end manipulator to be converted to the target posture.
  • a robot motion control device includes: a collection unit configured to collect a first contact force and a first moment between the end manipulator of the robot and the external environment through a sensor; a compensation unit configured to perform a zero-point compensation operation on the sensor; and a first calculation unit, It is configured to calculate the target contact force and target torque of the end manipulator according to the first contact force and the first torque after performing the zero point compensation operation on the sensor; the control unit is configured to control the end operation according to the target contact force and the target torque The pose of the device is converted to the target pose.
  • a storage medium includes a stored program, and the program executes the above-mentioned method for controlling movement of a robot.
  • a processor which is used to run a program, and the above-mentioned method for controlling movement of a robot is executed when the program is running.
  • the following steps are adopted: collecting the first contact force and first moment of the robot's end manipulator and the external environment through the sensor; performing zero point compensation operation on the sensor; after performing the zero point compensation operation on the sensor, according to the first contact force Calculate the target contact force and target torque of the end manipulator with the first torque; according to the target contact force and target torque, control the pose of the end manipulator to be converted into the target pose, which solves the robot's force perception and control in related technologies It is realized in the form of providing a force control additional package, which leads to the technical problem of low working efficiency of the robot, and thus achieves the effect of stable control of the robot.
  • Fig. 1 is a flowchart of a method for controlling movement of a robot according to an embodiment of the present invention
  • Figure 2 is a schematic diagram of a motion control module provided by an embodiment of the application.
  • Figure 3 is a flow chart of the force control calculation provided by this application for converting the contact force/torque calculation into the robot pose control amount;
  • Fig. 4 is a schematic diagram of a position-based impedance control algorithm provided by this application.
  • Fig. 5 is a second schematic diagram of a method for controlling movement of a robot according to an embodiment of the present invention.
  • Fig. 6 is a schematic diagram of a device for controlling movement of a robot according to an embodiment of the present invention.
  • a method for controlling movement of a robot is provided.
  • Fig. 1 is a flowchart of a method for controlling movement of a robot according to an embodiment of the present invention. As shown in Figure 1, the invention includes the following steps:
  • step S101 the first contact force and the first moment of the end manipulator of the robot and the external environment are collected by the sensor.
  • Step S102 Perform a zero point compensation operation on the sensor.
  • step S103 after the zero point compensation operation is performed on the sensor, the target contact force and the target torque of the end manipulator are calculated according to the first contact force and the first torque.
  • Step S104 according to the target contact force and the target moment, control the pose of the end manipulator to be converted into the target pose.
  • a force control mode is added to the motion control module of the robot.
  • the scheduling relationship of real-time tasks in the controller system under the force control mode is high in stability and reliability, and reduces Improve the work intensity of personnel and improve work efficiency.
  • sensors are provided on each end-manipulator of the robot, and the contact force and torque generated by the end-manipulator of the robot and the external environment are collected through the sensor. Since the robot's pose changes continuously during the actual operation of the robot, the robot The zero point of the sensor will change under the influence of gravity between the end manipulator and the sensor installed at the lower end of the end manipulator. Therefore, in order to obtain the actual contact force between the robot and the external environment more accurately, it is necessary to perform zero point compensation on the sensor and zero point for the sensor. After compensation, a more accurate contact force and torque generated by the contact force are obtained again, and the pose of the robot is controlled and converted through the final contact force and the generated torque.
  • An embodiment of the present invention provides a method for controlling the movement of a robot, which collects the first contact force and the first moment of the end manipulator of the robot and the external environment through a sensor; performs a zero-point compensation operation on the sensor; after performing a zero-point compensation operation on the sensor According to the first contact force and the first moment, calculate the target contact force and target torque of the end manipulator; according to the target contact force and target torque, control the position of the end manipulator to convert to the target pose, which solves the problem of robots in related technologies
  • the perception and control of the force is realized by providing a force control add-on package, which leads to the technical problem of low working efficiency of the robot, and thus achieves the effect of stable control of the robot.
  • a force control module is added as a subtask module in the motion module of the robot.
  • the motion control module is composed of 4 real-time tasks, namely the force control task module.
  • Robot language interpreter, interpolation arithmetic unit, motion control management Figure 2 is a schematic diagram of the model of the motion control module, as shown in Figure 2.
  • the method further includes: converting the coordinate system based on the first contact force and the first moment into a target coordinate system, wherein the target The coordinate system is the tool coordinate system of the robot.
  • the communication parameters of the force sensor set in the robot end manipulator must be initialized.
  • Most force sensors support TCP/UDP communication, generate sensor commands, and receive return data.
  • the data received by the sensor is based on the sensor coordinate system, and we need to convert it into the description quantity under the robot tool coordinate system to facilitate the force control calculation.
  • the rotation matrix of the sensor coordinate system relative to the tool coordinate system can be expressed as, Among them ⁇ , ⁇ , ⁇ are the angle description of the sensor coordinate system relative to the tool coordinate system.
  • performing a zero point compensation operation on the sensor includes: obtaining a rotation matrix of the first gravity and the tool coordinate system relative to the base coordinate system, where the first gravity is the overall gravity of the sensor and the end manipulator; according to the first gravity and The rotation matrix determines the second gravity, where the second gravity is the gravity in the base coordinate system; according to the rotation matrix and the second gravity, the third gravity and the second moment are determined, where the third gravity is the sensor and terminal operation The gravity of the whole tool in the tool coordinate system, and the second moment is the moment produced by the third gravity in the tool coordinate system.
  • the pose of the robot is constantly changing.
  • the sensor's zero point will change due to the influence of the sensor itself and the gravity installed below it. Therefore, the actual contact force between the robot and the external environment can be obtained more accurately. , The sensor needs to be compensated for the zero point.
  • the overall gravity of the sensor and the end manipulator is g
  • the overall center of gravity is on the Z axis of the tool coordinate system
  • the distance between the center of gravity and the coordinate origin is d
  • the tool coordinate system ⁇ T ⁇ is relative to the base coordinate system ⁇ B ⁇
  • the rotation matrix is
  • calculating the target contact force and the target torque of the end manipulator according to the first contact force includes: obtaining the first initial force and the third torque, where the first initial force is The force generated by the sensor at the initial position, the third moment is the torque corresponding to the first initial force; the second initial force and the fourth moment are obtained, where the second initial force is the force generated by the end effector and the sensor as a whole at the initial position , The fourth moment is the moment corresponding to the second initial force; the target initial force of the sensor at the initial position is calculated according to the first initial force and the second initial force; the target initial force of the sensor at the initial position is calculated according to the third and fourth moments The target initial torque; the target contact force is calculated according to the first contact force, the target initial force and the third gravity; the target torque is calculated according to the first contact torque, the target initial torque and the second torque.
  • the data measured by the sensor is not only affected by the gravity of the sensor itself and the end manipulator, but also by its own initial value.
  • the force measured by the sensor at the robot’s Home position is recorded as T F ref
  • the torque is recorded as T M ref
  • the gravity is The force and moment generated by the initial position
  • T G Home and T M Home respectively
  • T M init T M ref - T M Home
  • T M c T M s - T M init - T M.
  • the sensor itself has certain data.
  • the data may or may not be 0.
  • the sensor and end manipulator will also produce force and torque under the action of gravity.
  • the initial position is also the Home position.
  • the method further includes: sending the target contact force and the target torque to the sensor data image area ; Collect the target contact force and target torque in the image area of the sensor data, and calculate the position and attitude control amount of the end manipulator according to the target contact force and target torque.
  • the force control module of this embodiment is shown in the circled part on the left in Figure 2. It is mainly composed of two real-time tasks of force information collection and force control calculation.
  • the force information collection task periodically collects data from the force sensor. , And transfer the collected data to the sensor data image area to refresh.
  • the force control calculation task mainly converts the force information into the robot pose control quantity, and obtains the single-point motion instruction input instruction buffer through calculation.
  • the force control calculation converts the contact force/torque calculation into the robot pose control amount.
  • the process is shown in Figure 3.
  • the force control means includes adaptive control, impedance control, etc.
  • the position-based impedance control algorithm of this application is The schematic block diagram of the impedance control algorithm is shown in Figure 4, where Fd: the expected six-dimensional contact force of the robot; F: the actual six-dimensional contact force of the robot; X: the current pose of the robot; Xc: the amount of pose control.
  • the force control module also includes a sensor data influence area. After the target contact force and target torque are calculated, the collected data is refreshed to the sensor data image area, which is generated by the data in the sensor image area. Used to control the control amount of the robot.
  • controlling the pose of the end manipulator to convert to the target pose includes: generating a control command and writing the control command into the command buffer according to the pose control amount of the end manipulator; Read the control command through the interpolator task, and transmit the end manipulator angle contained in the pose control value to the servo image area; when the next servo cycle starts, the pose control value is sent to the servo motor; through the servo motor The drive controls the pose of the end manipulator to be converted to the target pose.
  • the task scheduling priority of the motion control system is in order: motion control monitoring management task, servo bus task, soft PLC task, force information collection task, force control calculation task, interpolator task, CPU idle .
  • the motion control management task has the highest priority. It first checks each task in the controller system and handles exceptions.
  • the servo bus task refreshes the servo and IO data to the memory image area; the soft PLC performs input sampling and logic processing, sends the request interpolation calculation command to the interpolator task and waits in the PLC message queue ;
  • the force information collection task refreshes the contact force to the sensor data image area, and sends the force information update completion message to the force control calculation task; then the force control calculation task obtains the robot pose control amount through calculation, and generates the robot instruction to write into the instruction buffer;
  • the interpolator task reads the robot instructions, writes the angle control of each axis of the robot to the PC/PLC, and sends a calculation completion message to the PLC task; finally the PLC task refreshes the angle control of each axis to the servo image area, and the servo task is in the next In the servo cycle, the control quantity is sent to the servo driver through the bus, which realizes the motion control of the robot, and changes the robot'
  • Fig. 5 is a second schematic diagram of a method for controlling movement of a robot according to an embodiment of the present invention.
  • a torque sensor is installed at the end of the industrial robot to obtain the contact force between the robot and the external environment. Because the information collection is real-time and periodic, the force information collection task period is set to PLC in this article. Task cycle.
  • the embodiment of the present invention also provides a robot motion control device. It should be noted that the robot motion control device in the embodiment of the present invention can be used to execute the robot motion control device provided in the embodiment of the present invention. Control Method. The following describes a robot motion control device provided by an embodiment of the present invention.
  • Fig. 6 is a schematic diagram of a device for controlling movement of a robot according to an embodiment of the present invention.
  • the device includes: a collection unit 601 configured to collect the first contact force and first moment of the end manipulator of the robot with the external environment through the sensor; the compensation unit 602 is configured to perform zero point compensation on the sensor Operation; the first calculation unit 603 is configured to calculate the target contact force and the target torque of the end manipulator based on the first contact force and the first torque after performing the zero point compensation operation on the sensor; the control unit 604 is configured to be based on The target contact force and the target torque are used to control the posture of the end manipulator to be converted into the target posture.
  • a device for controlling movement of a robot is configured to collect the first contact force and first moment of the end manipulator of the robot and the external environment through a sensor through a collection unit 601; the compensation unit 602 is configured to Perform a zero-point compensation operation on the sensor; the first calculation unit 603 is configured to calculate the target contact force and the target torque of the end manipulator according to the first contact force and the first torque after performing the zero-point compensation operation on the sensor; the control unit 604 , Is configured to control the posture of the end manipulator to be converted to the target posture according to the target contact force and the target torque, which solves the problem that the force perception and control of the robot in the related technology is realized by providing a force control additional package, resulting in The technical problem of the robot's low working efficiency has achieved the effect of stably controlling the robot.
  • the device further includes: a conversion unit configured to convert the coordinate system based on the first contact force and the first moment into a target after collecting the first contact force between the end manipulator of the robot and the external environment through the sensor The coordinate system, where the target coordinate system is the tool coordinate system of the robot.
  • a conversion unit configured to convert the coordinate system based on the first contact force and the first moment into a target after collecting the first contact force between the end manipulator of the robot and the external environment through the sensor The coordinate system, where the target coordinate system is the tool coordinate system of the robot.
  • the compensation unit 602 includes: a first acquisition subunit configured to acquire a rotation matrix of the first gravity and tool coordinate system relative to the base coordinate system, where the first gravity is the overall gravity of the sensor and the end manipulator;
  • the first determining subunit is configured to determine the second gravity according to the first gravity and the rotation matrix, where the second gravity is the gravity in the base coordinate system;
  • the second determining subunit is configured to determine the second gravity according to the rotation matrix and the second Gravity, determine the third gravity and the second moment, where the third gravity is the gravity of the sensor and the end manipulator as a whole in the tool coordinate system, and the second moment is the moment generated by the third gravity in the tool coordinate system.
  • the first calculation unit 603 includes: a second acquisition subunit configured to acquire a first initial force and a third moment, where the first initial force is the force generated by the sensor at the initial position, and the third moment is the first An initial force corresponds to the generated torque; the third acquisition subunit is configured to acquire the second initial force and the fourth torque, where the second initial force is the force generated by the end effector and the sensor as a whole at the initial position, and the fourth torque Is the torque corresponding to the second initial force; the first calculation subunit is configured to calculate the target initial force of the sensor at the initial position according to the first initial force and the second initial force; the second calculation subunit is configured to calculate The third torque and the fourth torque calculate the target initial torque of the sensor at the initial position; the third calculation subunit is configured to calculate the target contact force based on the first contact force, the target initial force and the third gravity; the fourth calculation The sub-unit is configured to calculate the target moment according to the first contact moment, the target initial moment and the second moment.
  • the device further includes: a sending unit configured to calculate the target contact force and the target torque of the end manipulator according to the first contact force after performing the zero point compensation operation on the sensor, and then combine the target contact force and the target torque Send to the sensor data image area; the second calculation unit is configured to collect the target contact force and the target torque in the sensor data image area, and calculate the position and attitude control amount of the end manipulator according to the target contact force and the target torque.
  • a sending unit configured to calculate the target contact force and the target torque of the end manipulator according to the first contact force after performing the zero point compensation operation on the sensor, and then combine the target contact force and the target torque Send to the sensor data image area
  • the second calculation unit is configured to collect the target contact force and the target torque in the sensor data image area, and calculate the position and attitude control amount of the end manipulator according to the target contact force and the target torque.
  • control unit 604 includes: a generation subunit, configured to generate a control command and write the control command into the command buffer according to the pose control amount of the end manipulator; the transmission subunit, configured to pass the interpolator The task reads the control command and transmits the end manipulator angle contained in the pose control value to the servo image area; the sending subunit is configured to send the pose control value to the servo motor when the next servo cycle starts; The conversion subunit is configured to control the pose of the end manipulator to convert to the target pose through the drive of the servo motor.
  • a control device for robot movement includes a processor and a memory.
  • the above-mentioned acquisition unit 601 is stored in the memory as a program unit, and the processor executes the above-mentioned program unit stored in the memory to implement corresponding functions.
  • the processor contains the kernel, and the kernel calls the corresponding program unit from the memory.
  • the kernel can be set to one or more, and the perception and control of the robot's force in the related technology is achieved by providing a force control add-on package by adjusting the kernel parameters to solve the technical problem that the robot's work efficiency is not high.
  • the memory may include non-permanent memory in computer-readable media, random access memory (RAM) and/or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM), and the memory includes at least one Memory chip.
  • RAM random access memory
  • ROM read-only memory
  • flash RAM flash random access memory
  • the embodiment of the present invention provides a storage medium on which a program is stored, and when the program is executed by a processor, a method for controlling the movement of a robot is realized.
  • the embodiment of the present invention provides a processor, which is used to run a program, where a method for controlling the movement of a robot is executed when the program is running.
  • the embodiment of the present invention provides a device.
  • the device includes a processor, a memory, and a program stored in the memory and running on the processor.
  • the first contact force and first moment of the environment perform zero point compensation operation on the sensor; after performing the zero point compensation operation on the sensor, calculate the target contact force and target torque of the end manipulator according to the first contact force and first moment;
  • the target contact force and the target torque are used to control the posture of the end manipulator to be converted into the target posture.
  • the method further includes: converting the coordinate system based on the first contact force and the first moment into a target coordinate system, wherein the target The coordinate system is the tool coordinate system of the robot.
  • performing a zero point compensation operation on the sensor includes: obtaining a rotation matrix of the first gravity and the tool coordinate system relative to the base coordinate system, where the first gravity is the overall gravity of the sensor and the end manipulator; according to the first gravity and The rotation matrix determines the second gravity, where the second gravity is the gravity in the base coordinate system; according to the rotation matrix and the second gravity, the third gravity and the second moment are determined, where the third gravity is the sensor and terminal operation The gravity of the whole tool in the tool coordinate system, and the second moment is the moment produced by the third gravity in the tool coordinate system.
  • calculating the target contact force and the target torque of the end manipulator according to the first contact force includes: obtaining the first initial force and the third torque, where the first initial force is The force generated by the sensor at the initial position, the third moment is the torque corresponding to the first initial force; the second initial force and the fourth moment are obtained, where the second initial force is the force generated by the end effector and the sensor as a whole at the initial position , The fourth moment is the moment corresponding to the second initial force; the target initial force of the sensor at the initial position is calculated according to the first initial force and the second initial force; the target initial force of the sensor at the initial position is calculated according to the third and fourth moments The target initial torque; the target contact force is calculated according to the first contact force, the target initial force and the third gravity; the target torque is calculated according to the first contact torque, the target initial torque and the second torque.
  • the method further includes: sending the target contact force and the target torque to the sensor data image area ; Collect the target contact force and target torque in the image area of the sensor data, and calculate the position and attitude control amount of the end manipulator according to the target contact force and target torque.
  • controlling the pose of the end manipulator to convert to the target pose includes: generating a control command and writing the control command into the command buffer according to the pose control amount of the end manipulator; Read the control command through the interpolator task, and transmit the end manipulator angle contained in the pose control value to the servo image area; when the next servo cycle starts, the pose control value is sent to the servo motor; through the servo motor
  • the drive controls the pose of the end manipulator to be converted to the target pose.
  • the devices in this article can be servers, PCs, PADs, mobile phones, etc.
  • the present invention also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program that initializes the following method steps: collecting the first contact force and the first contact force between the end manipulator of the robot and the external environment through the sensor. Torque; perform zero point compensation operation on the sensor; after performing zero point compensation operation on the sensor, calculate the target contact force and target torque of the end manipulator according to the first contact force and the first torque; control the end according to the target contact force and target torque The pose of the manipulator is converted to the target pose.
  • the method further includes: converting the coordinate system based on the first contact force and the first moment into a target coordinate system, wherein the target The coordinate system is the tool coordinate system of the robot.
  • performing a zero point compensation operation on the sensor includes: obtaining a rotation matrix of the first gravity and the tool coordinate system relative to the base coordinate system, where the first gravity is the overall gravity of the sensor and the end manipulator; according to the first gravity and The rotation matrix determines the second gravity, where the second gravity is the gravity in the base coordinate system; according to the rotation matrix and the second gravity, the third gravity and the second moment are determined, where the third gravity is the sensor and terminal operation The gravity of the whole tool in the tool coordinate system, and the second moment is the moment produced by the third gravity in the tool coordinate system.
  • calculating the target contact force and the target torque of the end manipulator according to the first contact force includes: obtaining the first initial force and the third torque, where the first initial force is The force generated by the sensor at the initial position, the third moment is the torque corresponding to the first initial force; the second initial force and the fourth moment are obtained, where the second initial force is the force generated by the end effector and the sensor as a whole at the initial position , The fourth moment is the moment corresponding to the second initial force; the target initial force of the sensor at the initial position is calculated according to the first initial force and the second initial force; the target initial force of the sensor at the initial position is calculated according to the third and fourth moments The target initial torque; the target contact force is calculated according to the first contact force, the target initial force and the third gravity; the target torque is calculated according to the first contact torque, the target initial torque and the second torque.
  • the method further includes: sending the target contact force and the target torque to the sensor data image area ; Collect the target contact force and target torque in the image area of the sensor data, and calculate the position and attitude control amount of the end manipulator according to the target contact force and target torque.
  • controlling the pose of the end manipulator to convert to the target pose includes: generating a control command and writing the control command into the command buffer according to the pose control amount of the end manipulator; Read the control command through the interpolator task, and transmit the end manipulator angle contained in the pose control value to the servo image area; when the next servo cycle starts, the pose control value is sent to the servo motor; through the servo motor The drive controls the pose of the end manipulator to be converted to the target pose.
  • the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.
  • computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device.
  • the device implements the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
  • These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so as to execute on the computer or other programmable equipment.
  • the instructions provide steps for implementing the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
  • the computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
  • processors CPUs
  • input/output interfaces network interfaces
  • memory volatile and non-volatile memory
  • the memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and/or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM).
  • RAM random access memory
  • ROM read-only memory
  • flash RAM flash memory
  • Computer-readable media include permanent and non-permanent, removable and non-removable media, and information storage can be realized by any method or technology.
  • the information can be computer-readable instructions, data structures, program modules, or other data.
  • Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, CD-ROM, digital versatile disc (DVD) or other optical storage, Magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media can be used to store information that can be accessed by computing devices. According to the definition in this article, computer-readable media does not include transitory media, such as modulated data signals and carrier waves.
  • the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.
  • computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un procédé et un appareil de commande de mouvements de robot. Le procédé comprend : la collecte, à l'aide d'un capteur, d'une première force de contact et d'un premier moment de force entre un effecteur d'extrémité d'un robot et un environnement externe; la réalisation d'une opération de compensation de point zéro sur le capteur; après la réalisation de l'opération de compensation de point zéro sur le capteur, le calcul d'une force de contact cible et d'un moment cible de force de l'effecteur d'extrémité en fonction de la première force de contact et du premier moment de force; et la commande, en fonction de la force de contact cible et du moment cible de force, de la conversion de la posture de l'effecteur d'extrémité en une posture cible. Par le procédé et l'appareil de commande, le problème technique, dans la technique concernée, de la faible efficacité de travail d'un robot provoquée par la réalisation de la détection de force et de la commande du robot sous la forme d'un paquet complémentaire de commande de force est ainsi résolu.
PCT/CN2020/139942 2020-04-16 2020-12-28 Procédé et appareil de commande de mouvements de robot Ceased WO2021208499A1 (fr)

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