CN104097208A - Multi-industrial-manipulator controller based on double-layer CPG (central pattern generator) - Google Patents
Multi-industrial-manipulator controller based on double-layer CPG (central pattern generator) Download PDFInfo
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Abstract
The invention discloses a multi-industrial-manipulator controller based on a double-layer CPG (central pattern generator). A structure similar to a layered neural network, which the ganglion controlling activities of invertebrates has and which a central nervous system controlling activities of vertebrates has, is adopted, features of a multi-industrial-manipulator control system and those of a single industrial manipulator are combined, and collective coordination and information interaction of multiple industrial manipulators are efficiently synergic. Flexible joints and a rich sensor system are adopted, information utilization rate of the multiple industrial manipulators is increased, and the joints of the industrial manipulators are effectively controlled, so that the system has high reliability and stability. The sensor system has the ability of autokinetic movement while the industrial-manipulator is enabled to have sufficient dynamic performance and degree of freedom. The multi-industrial-manipulator controller is composed of a phase coordination layer and a motion pattern generation layer; the phase coordination layer allows phase sequence locking for each industrial manipulator; the motion pattern generation layer allows trajectory planning and attitude adjustment for each industrial manipulator.
Description
Technical field
The invention belongs to automatic control technology field, specifically, relate to a kind of multiplex's industry mechanical arm controller based on double-deck CPG.
Background technology
Central pattern generator (cpg) (Central Pattern Generator, CPG) be that a class is present in the neuron networking in invertebrate and vertebrate central nervous system, it can not have to produce rhythmic behavior in rhythmicity control or feed back input situation, as walking, swimming etc.Invertebrate motion is controlled by neuromere, and vertebrate motion is controlled by central nervous system, and current research shows, animal nerve joint and central nervous system have hierarchical nature, can be divided into rhythm and pace of moving things genetic horizon and motor pattern genetic horizon.
In industrial production, in the face of hard work task day by day, with a complex structure, expensive monomer industrial machinery arm, carry out, may be difficult to competent or inefficiency, need to work together and just can complete Given task by a plurality of industrial machinery arms.A plurality of industrial machinery arm systems are mainly that single industrial machinery arm limited in one's ability is revealed to swarm intelligence by mutual, coordination and control volume, to have cooperated the Given task of relative complex.
The rise of multiplex's industry mechanical arm research comes from imitative biological inspiration, that multi-robot system on ordinary meaning is endowed the emerging research field after swarm intelligence attribute, multirobot is not only the sign of element number, and limited perception and Local Interaction principle that the co-operating behind of multirobot hides are only the most basic.The control structure scale corresponding with a plurality of robots is variable, and the quantity of robot is according to the requirement of task, and element number can be from several to hundreds and thousands of or be more.A plurality of robots will realize the coordination between colony, just must guarantee interchange between colony and the validity of negotiation, and effectively the sharing of information.
In patent of invention CN1857877A, disclose a kind of Roboter-mehrarm-steuerungssystem, comprised for the process of coordinating production, by network, communicated, synchronizing information has been transferred to the robot controller of one or more slave controllers from master controller.This system is considered the delay of network service when the event-order serie for process and synchronized movement is synchronous.But adopt using a mechanical arm as head robot of family, all the other mechanical arms are as the mode of kinsfolk robot, as between kinsfolk's mechanical arm without information interchange.
A kind of group robot controller is disclosed in patent of invention CN102707675A, comprise cooperation layer, management level and execution level, adopt prediction weighting hierarchical information technology, by wireless communication module, carry out Mesh networking, the control system of group robot is organically combined and controls with the feature of robot monomer the method that single robot terminal cooperates, realize in unmanned intervention situation group robot and carried out mutual and the beneficial effect cooperating, improved accuracy, the stability of under operating efficiency that group robot collective cooperates and particular surroundings, working.But the terminal of carrying out information interchange between each single robot and be single robot receives operational order and cooperative information that other single robot terminal and cooperation layer send, and the information of reception is only to terminalization.
At present, the application of multiplex's industry mechanical arm is more and more, but collective's cooperation and information interaction scarce capacity between each mechanical arm, in addition, most industry mechanical arm all has more piece jib or bending structure, meet to industrial machinery arm the accurate control of job requirements, the joint that connects each jib plays vital effect, the joint adopting is at present rigidity joint, and its shock resistance is poor, and stability is not enough.
Summary of the invention
The deficiency existing for fear of prior art, overcome between mechanical arm a little less than collective's cooperation and information interaction ability, and shock resistance is poor, the problem of stability deficiency, and the present invention proposes a kind of multiplex's industry mechanical arm controller based on double-deck CPG.Controller adopts to the neuromere of controlling invertebrate motion has the similar structure of layering neuroid with the central nervous system of vertebrate motion, its object is to control multiplex's industry mechanical arm and carries out collective's cooperation and information interaction, the effective control of realization to each joint of multiplex's industry mechanical arm, when guaranteeing that industrial machinery arm has enough power performance and the free degree, make industrial machinery arm there is certain autokinetic movement ability.
The technical solution adopted for the present invention to solve the technical problems is: mechanical arm controller is comprised of phase coordination layer and motor pattern genetic horizon, phase coordination layer is realized the phase sequence locking to each industrial machinery arm, and motor pattern layer carries out trajectory planning and attitude adjustment to each industrial machinery arm;
Described phase coordination layer comprises the rhythm generator that each industrial machinery arm is corresponding, each rhythm generator receives the signal from the touch sensor of corresponding industrial machinery arm, and between each rhythm generator, can carry out information interchange, each rhythm generator produces the phase signal of corresponding industrial machinery arm and is sent to corresponding controller;
Described motor pattern genetic horizon comprises the motor pattern generator of each industrial machinery arm, the motor pattern generator of each industrial machinery arm is by jib, end effector, flexible joint, the touch sensor of corresponding controller, base, connection successively, and power, displacement, torque sensor form; The controller of described each industrial machinery arm, reception is from the feedback signal of the phase signal of corresponding rhythm generator and each flexible joint of industrial machinery arm of being measured by power, displacement, torque sensor, each flexible joint is controlled, the trajectory planning of the end effector of each industrial machinery arm, is completed by corresponding controller simultaneously; The end effector of described each industrial machinery arm, according to the path planning of controller, operate, target is carried out to operation, and activation signal is sent to touch sensor, meanwhile, end effector is sent to each flexible joint of industrial machinery arm by contact the information producing with industrial object; The flexible joint of described each industrial machinery arm, the tension and compression of generation and torsional deformation information exchange exertin, displacement, torque sensor feed back to corresponding controller, and the control signal that corresponding controllers is sent is carried out attitude adjustment; The power of described each industrial machinery arm, displacement, torque sensor, for measuring power, displacement and the speed deformation data of each industrial machinery arm flexible joint, and being sent to corresponding controller, each flexible joint has one group of power, displacement, the torque sensor of its correspondence; The touch sensor of described each industrial machinery arm, for measuring the activation signal of each industrial robotic arm end actuator and target, and is sent to corresponding rhythm generator by activation signal.
Beneficial effect
A kind of multiplex's industry mechanical arm controller based on double-deck CPG that the present invention proposes, by adopting to the neuromere of controlling invertebrate motion, there is the similar structure of layering neuroid with the central nervous system of vertebrate motion, the feature of multiplex's industry mechanical arm control system and single industrial machinery arm is organically combined, make the cooperation of multiplex's industry mechanical arm collective and information interaction there is efficient concertedness; Adopt flexible joint and abundant sensing system, when improving multiplex's industry mechanical arm information utilization, realize the effective control to each joint of multiplex's industry mechanical arm, make system there is high reliability and stability.When guaranteeing that industrial machinery arm has enough power performance and the free degree, make industrial machinery arm there is certain autokinetic movement ability.Mechanical arm controller is comprised of phase coordination layer and motor pattern genetic horizon, and phase coordination layer is realized the phase sequence locking to each industrial machinery arm, and motor pattern layer carries out trajectory planning and attitude adjustment to each industrial machinery arm.
Accompanying drawing explanation
Below in conjunction with drawings and embodiments, a kind of multiplex's industry mechanical arm controller based on double-deck CPG of the present invention is described in further detail.
Fig. 1 is the multiplex's industry mechanical arm controller architecture schematic diagram that the present invention is based on double-deck CPG.
In figure:
Rn represents the rhythm generator of n industrial robot arm;
Jnm represents m flexible joint in n industrial robot arm;
Snm represents to measure power, displacement, the torque sensor of m flexible joint deformation in n industrial robot arm;
Kn represents to measure the touch sensor of n industrial robot arm end effector contact information;
The specific embodiment
The present embodiment is a kind of multiplex's industry mechanical arm controller based on double-deck CPG.
As shown in Figure 1, be the multiplex (MUX) industry mechanical arm controller architecture schematic diagram of the present embodiment based on double-deck CPG.According to imitative biological foundation, multiplex's industry mechanical arm controller that the present embodiment provides is divided into phase coordination layer and motor pattern occurs; Layer phase coordination layer is comprised of rhythm generator corresponding to each industrial machinery arm, each rhythm generator Rn is received from the signal of the touch sensor Kn of corresponding industrial machinery arm, and can carry out information interchange between each rhythm generator Rn, each rhythm generator produces the phase signal of corresponding industrial machinery arm and sends it to corresponding controller, and phase coordination layer is realized the phase sequence locking to each industrial machinery arm; Motor pattern genetic horizon is comprised of the motor pattern generator of each industrial machinery arm, the motor pattern generator of each industrial machinery arm is by corresponding controller, base, the jib connecting successively, end effector, flexible joint Jnm, power, displacement, torque sensor Snm, touch sensor Kn forms, and motor pattern layer carries out motion planning and attitude adjustment to each industrial machinery arm.
Embodiment 1
In the present embodiment, adopt the multiplex's industry mechanical arm controller based on double-deck CPG to weigh object transport operation.In industrial production, some large and heavy objects body, relies on single industrial machinery arm to be difficult to transport operation, needs a plurality of industrial machinery arm coordinative operations just can complete carrying.When initial, each industrial machinery arm is according to initializing set, close to weight body.While having the end effector of a mechanical arm to contact with weight in a plurality of industrial machinery arms, the touch sensor by the industrial machinery arm with contact weight body passes to by activation signal the rhythm generator that this mechanical arm is corresponding.The phase coordination layer of multiplex's industry mechanical arm controller is according to making decision with the signal input of rhythm generator that contact the industrial machinery arm of weight, the industrial machinery arm movement velocity that contacts weight body is slowed down, not yet accelerate with all the other industrial machinery arm movement velocitys of heavy object contact, as early as possible with heavy object contact.Simultaneously, by end effector, power and out of Memory are sent to this each flexible joint of industrial machinery arm with the industrial machinery arm of heavy object contact, corresponding controller carries out attitude adjustment according to the feedback signal of the input signal of the rhythm generator of this industrial machinery arm and each flexible joint.When the industrial machinery arm of all participation operations is during all with heavy object contact, give each industrial machinery arm afterburning, complete the crawl work of counterweight object, each industrial machinery arm, according to the motion planning of setting separately, carries out the transport operation of weight body.
Embodiment 2
In the present embodiment, adopt the multiplex's industry mechanical arm controller based on double-deck CPG to carry out the simultaneously operating of multiplex's industry mechanical arm.In industrial production, some time need the simultaneously operating of a plurality of industrial machinery arm, multiplex's industry mechanical arm controller can be adjusted from phase coordination layer and motor pattern genetic horizon a plurality of industrial machinery arms of controlling simultaneously, guarantees that each industrial machinery arm keeps highly consistent simultaneously operating.For phase coordination layer, when initial, in phase coordination layer, the rhythm generator of each industrial machinery arm completes phase sequence locking, makes each industrial machinery arm keep being synchronized with the movement.When there is Asynchrony phenomenon, phase sequence locking when phase coordination layer basis is initial is adjusted, make each industrial machinery arm again keep being synchronized with the movement, the phase signal that phase coordination layer produces corresponding rhythm generator is simultaneously sent to corresponding industrial machinery arm controller.For motor pattern genetic horizon, when initial, each industrial machinery arm, according to initializing set, moves according to motion planning action separately.While having the motion of a mechanical arm asynchronous with the motion of all the other industrial machinery arms in each industrial machinery arm, the residing position of industrial machinery arm and other industrial machinery arm are inconsistent, and power, position, speed that each flexible joint of industrial machinery arm is subject to are also inconsistent with other industrial machinery arm; The power of each flexible joint of industrial machinery arm, displacement, torque sensor are passed to power, position, rate signal the controller of corresponding industrial machinery arm, corresponding controller carries out attitude adjustment according to the phase signal of the rhythm generator input of industrial machinery arm and the feedback signal of each flexible joint, and each industrial machinery arm motion is consistent again.
Embodiment 3
In the present embodiment, adopt the multiplex's industry mechanical arm controller based on double-deck CPG to carry out the sequencing operation control of a plurality of industrial machinery arms.In industrial production, some time need a plurality of industrial machinery arms carry out operation according to certain sequencing, as carry out the assembling of machine, the streamline production operation of workpiece.When initial, each industrial machinery arm is according to initializing set, according to actual requirement, some or a plurality of industrial machinery arms carry out operation, when carrying out the industrial machinery arm of operation while completing the operation of setting, the touch sensor of industrial robotic arm end actuator is passed to corresponding rhythm generator by signal, the phase coordination layer of multiplex's industry mechanical arm is made decision according to the signal input of carrying out the end effector of operation industrial machinery arm, the industrial machinery arm of setting operation is resetted, the industrial machinery arm that simultaneously triggers next time period carries out operation, until complete all operations.In this process, in phase coordination layer, the rhythm generator of each industrial machinery arm keeps phase sequence locking, controller, flexible joint, power, displacement, the torque sensor of each industrial machinery arm of motor pattern genetic horizon complete the motion planning to this industrial machinery arm, attitude is adjusted, and phase coordination layer and each industrial machinery arm of motor pattern genetic horizon common guarantee are controlled according to the sequencing operation of setting.
Claims (1)
1. the multiplex's industry mechanical arm controller based on double-deck CPG, it is characterized in that: mechanical arm controller is comprised of phase coordination layer and motor pattern genetic horizon, phase coordination layer is realized the phase sequence locking to each industrial machinery arm, and motor pattern layer carries out trajectory planning and attitude adjustment to each industrial machinery arm;
Described phase coordination layer comprises the rhythm generator that each industrial machinery arm is corresponding, each rhythm generator receives the signal from the touch sensor of corresponding industrial machinery arm, and between each rhythm generator, can carry out information interchange, each rhythm generator produces the phase signal of corresponding industrial machinery arm and is sent to corresponding controller;
Described motor pattern genetic horizon comprises the motor pattern generator of each industrial machinery arm, the motor pattern generator of each industrial machinery arm is by jib, end effector, flexible joint, the touch sensor of corresponding controller, base, connection successively, and power, displacement, torque sensor form; The controller of described each industrial machinery arm, reception is from the feedback signal of the phase signal of corresponding rhythm generator and each flexible joint of industrial machinery arm of being measured by power, displacement, torque sensor, each flexible joint is controlled, the trajectory planning of the end effector of each industrial machinery arm, is completed by corresponding controller simultaneously; The end effector of described each industrial machinery arm, according to the path planning of controller, operate, target is carried out to operation, and activation signal is sent to touch sensor, meanwhile, end effector is sent to each flexible joint of industrial machinery arm by contact the information producing with industrial object; The flexible joint of described each industrial machinery arm, the tension and compression of generation and torsional deformation information exchange exertin, displacement, torque sensor feed back to corresponding controller, and the control signal that corresponding controllers is sent is carried out attitude adjustment; The power of described each industrial machinery arm, displacement, torque sensor, for measuring power, displacement and the speed deformation data of each industrial machinery arm flexible joint, and being sent to corresponding controller, each flexible joint has one group of power, displacement, the torque sensor of its correspondence; The touch sensor of described each industrial machinery arm, for measuring the activation signal of each industrial robotic arm end actuator and target, and is sent to corresponding rhythm generator by activation signal.
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| CN109352644A (en) * | 2018-09-14 | 2019-02-19 | 天津大学 | Manipulator motion rhythm detection method based on CPG neuroid |
| CN113195173A (en) * | 2018-12-19 | 2021-07-30 | 3M创新有限公司 | Automated surface preparation system |
| CN114043487A (en) * | 2022-01-13 | 2022-02-15 | 季华实验室 | Control method and device for compound robot, electronic equipment and storage medium |
| CN114888793A (en) * | 2022-04-21 | 2022-08-12 | 同济大学 | Double-layer cooperative control method for multi-arm double-beam laser welding robot |
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| CN114888793A (en) * | 2022-04-21 | 2022-08-12 | 同济大学 | Double-layer cooperative control method for multi-arm double-beam laser welding robot |
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