CN104792559A - Method for measuring kinetic stability and structure stability of humanoid robot - Google Patents
Method for measuring kinetic stability and structure stability of humanoid robot Download PDFInfo
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Abstract
The invention provides a method for measuring kinetic stability and structure stability of a humanoid robot. The method comprises the following steps of adhering piezoelectric sensors on various measurement points of the humanoid robots; capturing vibration signals nearby various action finishing points and various action turning points by using an LMS (least mean square) dynamic signal acquiring system; and analyzing shaking degree of the action finishing points and shaking degree of the action turning points by using corresponding LMS analysis software of a computer. The action accuracy of the robot can be improved effectively and action instability is reduced by correcting action programs on the basis of the shaking degree. The structure stability degree of the humanoid robot can be analyzed, optimum structural design of corresponding portions is carried out according to vibration measurement results of different portions of the body of the robot, and the stability of a whole structure is improved.
Description
Technical field
The present invention relates to a kind of anthropomorphic robot kinetic stability and structural stability measuring method, belong to Robot Design and control field.
Background technology
Along with the continuous progress of science and technology, anthropomorphic robot is in industry, military, application in life is outstanding all the more, in social activity, medical treatment, in the fields such as match, the usage quantity of robot is also riseing year by year, and in the middle of various robot, anthropomorphic robot has more dirigibility at work, the mankind can not only be replaced to complete the task of sequencing, increase work efficiency, and be difficult in the environment of work the mankind, day by day play an important role, anthropomorphic robot comparatively ordinary robot more easily adapts to working environment, especially in unstable and that barrier is many environment, anthropomorphic robot technology has become the popular engineering of nowadays various countries' research, and the adaptive faculty of robot to environment determines the demanding criteria that can they reach adaptation people, and the main aspect affecting its adaptive faculty is kinetic stability and the structural stability of robot.Therefore; these requirements can be reached before coming into operation to make robot; need the existing structure of robot and control system carries out kinetic stability in the lab and structural stability is measured, one is guarantee that robot is when formally coming into operation, and has good stability.Two is by reference to measurement result, improves robot architecture and control program, improves its stability.
Summary of the invention
The object of the present invention is to provide a kind of anthropomorphic robot kinetic stability and structural stability measuring method, in existing investigative technique method, carry out vibration analysis mainly for a certain parts, the measurement for anthropomorphic robot mass motion stability and structural stability is vital.
For achieving the above object, the technical solution used in the present invention is anthropomorphic robot kinetic stability and structural stability measuring method, first, piezoelectric sensor is pasted at each measurement point of anthropomorphic robot, robot energising motion, by the vibration signal near LMS dynamic signal acquisition system acquisition each release point and each action turning point.By the degree of jitter of computing machine corresponding LMS analysis software release and action turning point.Reference jitter degree, then revises operation program and effectively can improve the action degree of accuracy of robot and reduce the instability of action.Secondly, fixture is fixed on vibrator, the both feet of anthropomorphic robot are fixed on fixture.Robot is energized and keeps a certain fixing action, by giving external excitation signal, utilizes LMS dynamic signal acquisition system and Polytec laser vibration measurer measuring vibrations signal.By test result, can analyze anthropomorphic robot Stability Analysis of Structures degree, the vibration survey result by robot health different parts carries out the Optimal Structure Designing of corresponding site, improves integrally-built stability.
As shown in Figure 1, the concrete implementation step of this method is as follows,
Step one: anthropomorphic robot kinetic stability is measured.
Piezoelectric sensor is pasted in the position measured at each needs of anthropomorphic robot health, and robot as shown in Figure 2, is placed in level land by point position, is connected by piezoelectric sensor with LMS dynamic signal acquisition system, LMS dynamic signal acquisition system is connected with computing machine.The measurement parameter of setting LMS dynamic signal acquisition system, to robot energising, make it according to programming action movement, the motor message of each measuring point is caught by LMS dynamic signal acquisition system, analyzes the motion conditions of each measuring point.Measurement point 1 and measurement point 2 are arranged on integral body, and to reflect the mass motion speed of robot, acceleration, displacement, measuring point 3 and measuring point 4 are arranged on robot arm, to reflect the movement velocity of robot arm, acceleration, displacement; Measuring point 6 and measuring point 7 are arranged on robot foot section, to reflect the movement velocity of robot foot section, acceleration, displacement.Measuring point 5 is arranged on robot leg.Set the action of robot as slowly going ahead, then the arm action of robot is slow swing, the leg action of robot is slow swing, Polytec laser vibration measurer measuring vibrations signal is used respectively to measurement point 4 and measurement point 5, now needs to use two Polytec laser probes.Because robot is in slow motion, and the red luminous point that Polytec laser vibration measurer is got is fixed, so the data that Polytec laser vibration measurer records are vibration datas of the curve at measurement point 4 place and the curve at measurement point 5 place.In whole measuring process, need to guarantee that red luminous point that one of them Polytec laser probe gets is all the time in the plane at measurement point 4 place, guarantee that red luminous point that another one Polytec laser probe gets is all the time in the plane at measurement point 5 place.This measurement result can reflect the left and right degrees of offset of arm and leg in robot kinematics.
Setting robot realizes the simple motion of discontinuity, speed, acceleration, displacement information during application LMS dynamic signal acquisition systematic survey release in a bit of time domain, is analyzed degree of jitter and the delay degree of release point by measurement result.
Setting robot realizes a series of continuity action, by the measurement of the speed of each measurement point of LMS dynamic signal acquisition systematic survey robot when a motion transition is transferred to action during another action in a bit of time domain, acceleration, displacement.By analysis to measure result, the stability of known action turning point robot.
Step 2: anthropomorphic robot structural stability is measured.
As shown in Figure 4, anthropomorphic robot structural stability experiments of measuring fixture is made up of one block of square plate, one block of plectane and support, and square plate and plectane are respectively together with support welding.Described side's plate is equipped with and grips hole, plectane is equipped with base plate fixed orifice.With bolt, fixture is fixed on vibrator, anthropomorphic robot both feet are fixed on fixture, piezoelectric sensor is pasted onto each measurement point respectively, except measurement point 1, as shown in Figure 2.The red spot alignment measurement point 1 got by Polytec laser vibration measurer, is connected LMS dynamic signal acquisition system with computing machine.Take 10Hz as initial actuation frequency, be that amplitude is incremented to 100Hz with 5Hz, in the process encourage acceleration keep 1g constant, each external excitation frequency all need robot vibration steady state (SS) under measurement data, and then increase external excitation frequency enter next steady state (SS) measure.By acceleration information corresponding for each measurement point and the 1g acceleration ratio that gives comparatively, the stability of anthropomorphic robot structure can be weighed.In addition, by comparing and measuring the measurement result of a little 1 and the measurement result of measurement point 6, the accuracy of experimental result is judged.
As shown in Figure 3, the left arm of setting anthropomorphic robot protracts, and measures excitation frequency outside and is incremented to 100Hz from 10Hz with 5Hz, the acceleration of measurement point 3 during each frequency, can be analyzed the stability of robot architecture under the overhanging state of arm by measurement result.
In described anthropomorphic robot kinetic stability and structural stability measuring method, the material of fixture is the one of aluminium, aluminium alloy, iron or steel.
Compared with prior art, the invention has the beneficial effects as follows:
Can the speed of Measurement accuracy anthropomorphic robot parts of body in course of action, acceleration and displacement signal, and then analyze the degree that the jitter conditions of each measurement point in motion process and actual act depart from deliberate action.By giving external drive, the stability of anthropomorphic robot structure can be measured.
Accompanying drawing explanation
Fig. 1 is this method implementing procedure figure;
Fig. 2 is the schematic diagram of each measuring point under anthropomorphic robot standing state;
Fig. 3 is that anthropomorphic robot left arm protracts state underarm end measuring point schematic diagram;
Fig. 4 is the structural representation of this method clamp;
Embodiment
As shown in Figure 1, the concrete implementation step of this method is as follows,
Step one: anthropomorphic robot kinetic stability is measured.
Piezoelectric sensor is pasted in the position measured at each needs of anthropomorphic robot health, and robot as shown in Figure 2, is placed in level land by point position, is connected by piezoelectric sensor with LMS dynamic signal acquisition system, LMS dynamic signal acquisition system is connected with computing machine.The measurement parameter of setting LMS dynamic signal acquisition system, to robot energising, make it according to programming action movement, the motor message of each measuring point is caught by LMS dynamic signal acquisition system, analyzes the motion conditions of each measuring point.Measurement point 1 and measurement point 2 reflect the mass motion speed of robot, acceleration, displacement, and measuring point 3 and measuring point 4 reflect the movement velocity of robot arm, acceleration, displacement, and measuring point 6 and measuring point 7 reflect the movement velocity of robot foot section, acceleration, displacement.Set the action of robot as slowly going ahead, then the arm action of robot is slow swing, the leg action of robot is slow swing, Polytec laser vibration measurer measuring vibrations signal is used respectively to measurement point 4 and measurement point 5, needs here to use two Polytec laser probes.Because robot is in slow motion, and the red luminous point that Polytec laser vibration measurer is got is fixed, so the data that Polytec laser vibration measurer records are vibration datas of the curve at measurement point 4 place and the curve at measurement point 5 place.In whole measuring process, need to guarantee that red luminous point that one of them Polytec laser probe gets is all the time in the plane at measurement point 4 place, guarantee that red luminous point that another one Polytec laser probe gets is all the time in the plane at measurement point 5 place.This measurement result can reflect the left and right degrees of offset of arm and leg in robot kinematics.
Setting robot realizes the simple motion of discontinuity, speed, acceleration, displacement information during application LMS dynamic signal acquisition systematic survey release in a bit of time domain, is analyzed degree of jitter and the delay degree of release point by measurement result.
Setting robot realizes a series of continuity action, by the measurement of the speed of each measurement point of LMS dynamic signal acquisition systematic survey robot when a motion transition is transferred to action during another action in a bit of time domain, acceleration, displacement.By analysis to measure result, the stability of known action turning point robot.
Step 2: anthropomorphic robot structural stability is measured.
As shown in Figure 4, anthropomorphic robot structural stability experiments of measuring fixture is made up of one block of square plate, one block of plectane and support, and square plate and plectane are respectively together with support welding.Described side's plate is equipped with and grips hole, plectane is equipped with base plate fixed orifice.With bolt, fixture is fixed on vibrator, anthropomorphic robot both feet are fixed on fixture, piezoelectric sensor is pasted onto each measurement point respectively, except measurement point 1, as shown in Figure 2.The red spot alignment measurement point 1 got by Polytec laser vibration measurer, is connected LMS dynamic signal acquisition system with computing machine.Take 10Hz as initial actuation frequency, be that amplitude is incremented to 100Hz with 5Hz, in the process encourage acceleration keep 1g constant, each external excitation frequency all need robot vibration steady state (SS) under measurement data, and then increase external excitation frequency enter next steady state (SS) measure.By acceleration information corresponding for each measurement point and the 1g acceleration ratio that gives comparatively, the stability of anthropomorphic robot structure can be weighed.In addition, by comparing and measuring the measurement result of a little 1 and the measurement result of measurement point 6, the accuracy of experimental result can be judged.
As shown in Figure 3, the left arm of setting anthropomorphic robot protracts, and measures excitation frequency outside and is incremented to 100Hz from 10Hz with 5Hz, the acceleration of measurement point 3 during each frequency, can be analyzed the stability of robot architecture under the overhanging state of arm by measurement result.
In described anthropomorphic robot kinetic stability and structural stability measuring method, the material of fixture is the one of aluminium, aluminium alloy, iron or steel.
Although invention has been described for composition graphs above, the present invention is not limited to above-mentioned embodiment, when not departing from present inventive concept, can also make change to a certain degree, and these all belong to protection category of the present invention.
Claims (2)
1. anthropomorphic robot kinetic stability and structural stability measuring method, it is characterized in that: first, piezoelectric sensor is pasted at each measurement point of anthropomorphic robot, robot energising motion, by the vibration signal near LMS dynamic signal acquisition system acquisition each release point and each action turning point.By the degree of jitter of computing machine corresponding LMS analysis software release and action turning point.Reference jitter degree, then revises operation program and effectively improves the action degree of accuracy of robot and reduce the instability of action.Secondly, fixture is fixed on vibrator, the both feet of anthropomorphic robot are fixed on fixture.Robot is energized and keeps a certain fixing action, by giving external excitation signal, utilizes LMS dynamic signal acquisition system and Polytec laser vibration measurer measuring vibrations signal.By test result, can analyze anthropomorphic robot Stability Analysis of Structures degree, the vibration survey result by robot health different parts carries out the Optimal Structure Designing of corresponding site, improves integrally-built stability.
The concrete implementation step of this method is as follows,
Step one: anthropomorphic robot kinetic stability is measured.
Piezoelectric sensor is pasted in the position measured at each needs of anthropomorphic robot health, robot is placed in level land, is connected by piezoelectric sensor with LMS dynamic signal acquisition system, LMS dynamic signal acquisition system be connected with computing machine.The measurement parameter of setting LMS dynamic signal acquisition system, to robot energising, make it according to programming action movement, the motor message of each measuring point is caught by LMS dynamic signal acquisition system, analyzes the motion conditions of each measuring point.Measurement point 1 and measurement point 2 are arranged on integral body, and to reflect the mass motion speed of robot, acceleration, displacement, measuring point 3 and measuring point 4 are arranged on robot arm, to reflect the movement velocity of robot arm, acceleration, displacement; Measuring point 6 and measuring point 7 are arranged on robot foot section, to reflect the movement velocity of robot foot section, acceleration, displacement.Measuring point 5 is arranged on robot leg.Set the action of robot as slowly going ahead, then the arm action of robot is slow swing, the leg action of robot is slow swing, Polytec laser vibration measurer measuring vibrations signal is used respectively to measurement point 4 and measurement point 5, now needs to use two Polytec laser probes.Because robot is in slow motion, and the red luminous point that Polytec laser vibration measurer is got is fixed, so the data that Polytec laser vibration measurer records are vibration datas of the curve at measurement point 4 place and the curve at measurement point 5 place.In whole measuring process, need to guarantee that red luminous point that one of them Polytec laser probe gets is all the time in the plane at measurement point 4 place, guarantee that red luminous point that another one Polytec laser probe gets is all the time in the plane at measurement point 5 place.This measurement result can reflect the left and right degrees of offset of arm and leg in robot kinematics.
Setting robot realizes the simple motion of discontinuity, speed, acceleration, displacement information during application LMS dynamic signal acquisition systematic survey release in a bit of time domain, is analyzed degree of jitter and the delay degree of release point by measurement result.
Setting robot realizes a series of continuity action, by the measurement of the speed of each measurement point of LMS dynamic signal acquisition systematic survey robot when a motion transition is transferred to action during another action in a bit of time domain, acceleration, displacement.By analysis to measure result, the stability of known action turning point robot.
Step 2: anthropomorphic robot structural stability is measured.
Anthropomorphic robot structural stability experiments of measuring fixture is made up of one block of square plate, one block of plectane and support, and square plate and plectane are respectively together with support welding.Described side's plate is equipped with and grips hole, plectane is equipped with base plate fixed orifice.With bolt, fixture is fixed on vibrator, anthropomorphic robot both feet are fixed on fixture, piezoelectric sensor is pasted onto each measurement point respectively, except measurement point 1.The red spot alignment measurement point 1 got by Polytec laser vibration measurer, is connected LMS dynamic signal acquisition system with computing machine.Take 10Hz as initial actuation frequency, be that amplitude is incremented to 100Hz with 5Hz, in the process encourage acceleration keep 1g constant, each external excitation frequency all need robot vibration steady state (SS) under measurement data, and then increase external excitation frequency enter next steady state (SS) measure.By acceleration information corresponding for each measurement point and the 1g acceleration ratio that gives comparatively, the stability of anthropomorphic robot structure can be weighed.In addition, by comparing and measuring the measurement result of a little 1 and the measurement result of measurement point 6, the accuracy of experimental result is judged.
The left arm of setting anthropomorphic robot protracts, and measures excitation frequency outside and is incremented to 100Hz from 10Hz with 5Hz, the acceleration of measurement point 3 during each frequency, can be analyzed the stability of robot architecture under the overhanging state of arm by measurement result.
2. anthropomorphic robot kinetic stability according to claim 1 and structural stability measuring method, is characterized in that: in described anthropomorphic robot kinetic stability and structural stability measuring method, the material of fixture is the one of aluminium, aluminium alloy, iron or steel.
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| JP4824492B2 (en) * | 2006-07-07 | 2011-11-30 | 富士通株式会社 | Mobile robot |
| CN100458863C (en) * | 2007-03-16 | 2009-02-04 | 廊坊智通机器人***有限公司 | Signal processing system in measurement technology |
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| CN102672719B (en) * | 2012-05-10 | 2014-11-19 | 浙江大学 | Dynamic stability control method for operation of humanoid robot arm |
| CN203993890U (en) * | 2014-01-13 | 2014-12-10 | 西北农林科技大学 | A kind of ten seven freedom anthropomorphic robots |
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| CN106840724A (en) * | 2017-01-19 | 2017-06-13 | 浙江大学 | A kind of plane biped robot motion testing platform |
| CN106840724B (en) * | 2017-01-19 | 2018-10-19 | 浙江大学 | A kind of plane biped robot motion testing platform |
| CN108521789A (en) * | 2017-06-06 | 2018-09-11 | 深圳市大疆创新科技有限公司 | Mobile robot performance estimating method, system and mobile robot |
| CN108521789B (en) * | 2017-06-06 | 2021-07-27 | 深圳市大疆创新科技有限公司 | Mobile robot performance evaluation method and system and mobile robot |
| CN111024379A (en) * | 2019-12-17 | 2020-04-17 | 福建工程学院 | Dynamic performance observation and detection system for linear actuator |
| CN111113430A (en) * | 2019-12-31 | 2020-05-08 | 深圳市优必选科技股份有限公司 | Robot and tail end control method and device thereof |
| CN111113430B (en) * | 2019-12-31 | 2021-07-27 | 深圳市优必选科技股份有限公司 | Robot and tail end control method and device thereof |
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