CN107016208B - Industrial robot external force estimation method based on jitter control - Google Patents

Industrial robot external force estimation method based on jitter control Download PDF

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CN107016208B
CN107016208B CN201710250397.3A CN201710250397A CN107016208B CN 107016208 B CN107016208 B CN 107016208B CN 201710250397 A CN201710250397 A CN 201710250397A CN 107016208 B CN107016208 B CN 107016208B
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friction
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external force
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于文进
韩峰涛
刘文礼
庹华
韩建欢
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Luo Shi (Shandong) Technology Co. Ltd.
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Rokae Shandong Intelligent Technology Co ltd
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Abstract

The invention provides an industrial robot external force estimation method based on jitter control, which comprises the following steps: establishing an external force estimation problem model; generating a joint shaking control signal according to the established model; the method comprises the following steps of using active jitter control to improve the response characteristic of a system in a friction force dead zone, and simultaneously transmitting external force interference into joint control torque through joint control; extracting an external force signal, comprising: and obtaining the external acting force at the tail end of the robot by extracting the median of the active jitter control signal in real time and comparing the median with the motor control torque. The method solves the problem of external force estimation of the industrial robot without a moment sensor, in particular to the problem of estimation aiming at the uncertainty of the friction force in a static or low-speed motion state.

Description

Industrial robot external force estimation method based on jitter control
Technical Field
The invention relates to the technical field of industrial robots, in particular to an external force estimation method of an industrial robot based on jitter control.
Background
The traditional industrial robot is generally completed based on position control in application tasks, such as transportation, welding, spraying and the like. With the expansion of the application field of the robot, more and more tasks not only need accurate position control but also need accurate control of the contact force between the robot and the outside, such as assembly, polishing, traction teaching and the like. External force information can be obtained through measurement of a multi-dimensional force/torque sensor or through measurement of robot joint torque and real-time estimation of a dynamic model. At present, the multi-dimensional force/torque sensor has higher cost on the aspects of mass, volume and cost for the application of a small-load industrial robot.
The external force estimation method without a moment sensor is a more economical alternative.
The external force estimation method without the torque sensor can obtain the acting components of the external force on each joint only by depending on the joint motion information and the driving current information of the robot per se through comparing the estimation value of the dynamic model on the joint torque with the motor drive, but the method has the difficulties that 1) a complete robot dynamic model is established and accurate model data is obtained, and 2) the friction force estimation, particularly under the static or low-speed motion state, the coulomb friction has great uncertainty, and how to estimate and compensate the friction force is another difficulty of the torque-free sensor.
The jitter Control (dither Control) is an effective method for compensating friction force, and by means of an active jitter Control signal with a certain frequency, the response characteristic in a friction force dead zone is improved, the influence of the nonlinearity of the friction force in the dead zone on the Control precision of a system can be effectively reduced, and the dither Control is applied to high-precision servo tracking Control.
Disclosure of Invention
The object of the present invention is to solve at least one of the technical drawbacks mentioned.
Therefore, the invention aims to provide an external force estimation method of an industrial robot based on jitter control.
In order to achieve the above object, an embodiment of the present invention provides a method for estimating an external force of an industrial robot based on jitter control, including the following steps:
step S1, establishing an external force estimation problem model;
step S2, generating joint vibration control signals according to the model established in step S1, wherein the function of the joint vibration control signals is as follows:
Figure GDA0002638133290000021
wherein: t is the time for entering the friction dead zone; amp is the amplitude of the jitter signal, is determined by the amplitude of the coulomb friction force, and the parameter can be obtained by dynamic parameter identification;
Figure GDA0002638133290000022
as a periodic square wave function, TditherFor dithering the control signal period, the frequency of the dither signal
Figure GDA0002638133290000023
Determined by the dynamic response characteristics of coulomb friction; t isrampRamp-up time for the dither control signal;
step S3, using active vibration control to improve the response characteristic of the system in the friction force dead zone, and transmitting the external force interference to the joint control torque through the joint control;
step S4, extracting an external force signal, including: and obtaining the external acting force at the tail end of the robot by extracting the median of the active jitter control signal in real time and comparing the median with the motor control torque.
Further, in the step S1,
the rigid body dynamics model of the robot is set as follows:
Figure GDA0002638133290000024
wherein: tau' is a control moment;
Figure GDA0002638133290000025
g (q) is the inertia force, the Coriolis force and the gravity of the joint end respectively;
Figure GDA0002638133290000028
the joint friction force; tau iseThe corresponding component of the terminal six-dimensional external force at the joint end has the following mapping relation with the terminal six-dimensional external force: tau ise＝JT(q)heWherein J (q) is a Jacobian matrix of robot velocity.
Further, the joint friction force
Figure GDA0002638133290000026
Expressed in a linear model, including both kinetic and coulombic friction terms:
Figure GDA0002638133290000027
wherein, Fv、FcThe coefficient of dynamic friction and the coefficient of coulomb friction are respectively.
Further, in the step S1,
the periodic disturbance control signal is introduced into the low-speed area to enable the position of the joint to oscillate, coulomb friction can be assumed to be a uniformly distributed random variable related to speed, and further the maximum likelihood estimation problem of friction and external force is converted into the following optimal estimation problem:
Figure GDA0002638133290000031
subject to τfmin≤τf≤τfmax
wherein: reAnd RefFor the two arrays of estimation error variances,
Figure GDA0002638133290000032
the mean value is estimated for the external force and can be set through prior data;
Figure GDA0002638133290000033
the difference between the motor control moment and the moment that can be accurately modeled, such as inertia force, Coriolis force, gravity and the like, is as follows:
Figure GDA0002638133290000034
the global optimal solution of the further optimal estimation problem is:
Figure GDA0002638133290000035
the external moment estimation problem is converted into a joint control force observation and friction force estimation problem.
Further, in the step S2,
in the shaking rising section of the friction dead zone, the initial median and the amplitude of the shaking control signal are zero, and the median target value is the active control moment for overcoming the inertia force, the Coriolis force and the gravity
Figure GDA0002638133290000036
The target value of the amplitude is Coulomb friction amplitude alpha FcWherein, alpha is an adjusting coefficient;
in the friction dead zone jitter saturation section, the active jitter control signal keeps stable-median uniform oscillation without external interference until the joint motion state is converted into a sliding friction zone under the action of external interference, the Coulomb friction force direction can be accurately judged by the collected data of a motor encoder in the sliding friction zone, the friction force can be accurately estimated according to a friction force model and dynamics identification parameters, and the active jitter control is cancelled until the joint motion enters the friction dead zone again.
Further, in the step S3, the controller is adopted to cancel the position loop control effect, and simultaneously, the proportional gain of the speed loop is increased to cooperate with the active jitter control signal to improve the system response characteristic of the static friction area.
Further, the step S4 includes the following steps:
(1) solving the motor control torque value, and estimating by the average value of the actual control torque sliding window
Figure GDA0002638133290000037
(2) Estimating the sum of the external moment and the friction force of the joint
Figure GDA0002638133290000038
(3) Estimating joint friction
Figure GDA0002638133290000039
(4) Estimating robot tip external forces
Figure GDA0002638133290000041
According to the external force estimation method of the industrial robot based on the jitter control, the external force estimation problem of the industrial robot without a moment sensor is solved, and particularly the estimation problem aiming at the uncertainty of the friction force in a static or low-speed motion state is solved. The invention can accurately estimate the external acting force acting on the tail end of the robot by the self-collected information of the industrial robot under the condition of no torque sensor, and particularly overcomes the problem of uncertainty of the friction force in the static friction dead zone by active jitter control, so that the external force estimation of the robot body can obtain higher estimation accuracy in a low-speed zone. The invention can be applied to sensorless dragging teaching, collision detection, force control assembly and other applications, and obtains better force sensitivity effect with lower cost.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of an external force estimation method of an industrial robot based on jitter control according to an embodiment of the present invention;
FIG. 2 is a diagram illustrating an active jitter control signal generation process according to an embodiment of the present invention;
fig. 3 is a block diagram of a control configuration according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
As shown in fig. 1, an external force estimation method for an industrial robot based on jitter control according to an embodiment of the present invention includes the following steps:
and step S1, establishing an external force estimation problem model.
Specifically, the rigid body dynamics model of the robot is as follows:
Figure GDA0002638133290000042
wherein: τ' control moment;
Figure GDA0002638133290000043
g (q) is the inertia force, the Coriolis force and the gravity of the joint end respectively;
Figure GDA0002638133290000051
the joint friction force is expressed by a linear model, and comprises two items of dynamic friction and coulomb friction:
Figure GDA0002638133290000052
wherein Fv、FcAre respectively asCoefficient of dynamic friction and coulomb friction coefficient.
τeThe corresponding component of the terminal six-dimensional external force at the joint end has the following mapping relation with the terminal six-dimensional external force:
τe＝JT(q)he (1.3)
where J (q) is the Jacobian matrix of robot velocities.
The front four terms on the right side of the equation (1.1) are body dynamics terms, under the premise that modeling is accurate, external acting force can be estimated through the difference between joint control torque and the body dynamics terms, and parameters used for modeling can be identified through body dynamics parameters to obtain accurate data. However, it can be seen from the formula (1.2) that the coulomb friction term is related to the direction of the joint movement speed, it is difficult to give an accurate joint movement direction through the reading of the motor encoder due to the existence of the signal acquisition noise of the motor encoder in a low-speed area or a static state, and the friction force in the low-speed area is mainly coulomb friction, so the uncertainty of the friction force in the low-speed area is a difficulty in real-time joint torque estimation. In addition, because coulomb friction force occupies a certain proportion in joint torque, if the estimation is inaccurate, large external force estimation deviation can be caused, and control instability can be caused in serious cases.
In the field of high-precision servo control, in order to eliminate uncertainty of coulomb friction in a dead zone, an active vibration signal with fixed frequency is introduced, so that the response characteristic of a system in a friction dead zone can be improved. By taking the idea of active jitter control as a reference, the joint is enabled to have position oscillation to a certain degree by introducing a fixed-period disturbance control signal into a low-speed area, Coulomb friction can be assumed as a uniformly-distributed random variable related to speed, and further the maximum likelihood estimation problem of friction and external force is converted into the following optimal estimation problem:
Figure GDA0002638133290000053
subject to τfmin≤τf≤τfmax (1.4)
wherein:
Reand RefFor the two arrays of estimation error variances,
Figure GDA0002638133290000054
the mean value is estimated for the external force, which can be set by a priori data.
Figure GDA0002638133290000055
The difference between the motor control moment and the moment that can be accurately modeled, such as inertia force, Coriolis force, gravity and the like, is as follows:
Figure GDA0002638133290000056
the global optimal solution of the further optimal estimation problem (1.4) is:
Figure GDA0002638133290000057
the external moment estimation problem is converted into a joint control force observation and friction force estimation problem.
In step S2, a joint shake control signal is generated based on the model created in step S1.
Specifically, as shown in fig. 2, the active dither control signal is directly applied to the torque control loop, and a fixed-period square wave signal is used, and in order to ensure a stable control process, the dither control signal is in a piecewise function form shown in formula (1.6), and includes: a. a friction dead zone jitter rising section, a friction dead zone jitter signal saturation section and a sliding friction section.
Figure GDA0002638133290000061
Wherein:
t is the time for entering the friction dead zone; amp is the amplitude of the jitter signal, is determined by the amplitude of the coulomb friction force, and the parameter can be obtained by dynamic parameter identification;
Figure GDA0002638133290000062
as a periodic square wave function, TditherFor dithering the control signal period, the frequency of the dither signal
Figure GDA0002638133290000063
Determined by the dynamic response characteristics of coulomb friction.
TrampThe dither control signal is ramped up for a time period during which both the median and amplitude of the dither signal are ramped up according to the temporal law shown in fig. 1.
In the shaking rising section of the friction dead zone, the initial median and the amplitude of the shaking control signal are zero, and the median target value is the active control moment for overcoming the inertia force, the Coriolis force and the gravity
Figure GDA0002638133290000064
The target value of the amplitude is Coulomb friction amplitude alpha FcAnd (alpha is an adjustment coefficient). In the friction dead zone jitter saturation section, the active jitter control signal keeps stable-median uniform oscillation without external interference until the joint motion state is converted into a sliding friction zone under the action of external interference, the Coulomb friction force direction can be accurately judged by the collected data of a motor encoder in the sliding friction zone, and the friction force can be accurately estimated according to a friction force model and dynamics identification parameters, so that the active jitter control is cancelled at the moment until the joint motion enters the friction dead zone again.
Step S3, the external force disturbance is transmitted as the joint control torque by the joint control while improving the response characteristic of the system in the friction force dead zone using the active dither control.
Specifically, in order to sense the external moment action, while the response characteristic of the system in the friction force dead zone is improved by using the active vibration control, the external force interference needs to be transmitted to the joint control moment through the joint control, and the controller cancels the position loop control action by adopting the control configuration shown in fig. 3 compared with the traditional three-loop control, and simultaneously improves the system response characteristic of the static friction zone by improving the proportional gain of a speed loop to match with the active vibration control signal.
Step S4, extracting an external force signal, including: and obtaining the external acting force at the tail end of the robot by extracting the median of the active jitter control signal in real time and comparing the median with the motor control torque.
Under the action of active vibration control, the control moment signal is the superposition of the external force interference eliminating acting force and the active vibration control signal, and the external acting force of the tail end (tool) of the robot can be obtained by extracting the median value of the active vibration control signal in real time and comparing the median value with the motor control moment.
(1) Solving the motor control torque value, and estimating by the average value of the actual control torque sliding window
Figure GDA0002638133290000071
(2) Estimating the sum of the external moment and the friction force of the joint
Figure GDA0002638133290000072
(3) Estimating joint friction
Figure GDA0002638133290000073
(4) Estimating robot tip external forces
Figure GDA0002638133290000074
The industrial gas-saving robot external force estimation method for jitter control provided by the embodiment of the invention can realize the establishment of a model of the external force estimation problem of the joint movement low-speed area, improves the dynamic response of a control system in a friction force dead zone through jitter control, and realizes an application method of the jitter control in a universal robot controller and a robot external force estimation data processing method based on the jitter control.
According to the external force estimation method of the industrial robot based on the jitter control, the external force estimation problem of the industrial robot without a moment sensor is solved, and particularly the estimation problem aiming at the uncertainty of the friction force in a static or low-speed motion state is solved. The invention can accurately estimate the external acting force acting on the tail end of the robot by the self-collected information of the industrial robot under the condition of no torque sensor, and particularly overcomes the problem of uncertainty of the friction force in the static friction dead zone by active jitter control, so that the external force estimation of the robot body can obtain higher estimation accuracy in a low-speed zone. The invention can be applied to sensorless dragging teaching, collision detection, force control assembly and other applications, and obtains better force sensitivity effect with lower cost.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention. The scope of the invention is defined by the appended claims and their full range of equivalents.

Claims (5)

1. An industrial robot external force estimation method based on jitter control is characterized by comprising the following steps:
step S1, establishing an external force estimation problem model;
the rigid body dynamics model of the robot is set as follows:
Figure FDA0003170375410000011
wherein: tau' is a control moment;
Figure FDA0003170375410000012
g (q) is the inertia force, the Coriolis force and the gravity of the joint end respectively;
Figure FDA0003170375410000013
the joint friction force; tau iseThe corresponding component of the terminal six-dimensional external force at the joint end has the following mapping relation with the terminal six-dimensional external force: tau ise＝JT(q)heWherein J (q) is a robot velocity Jacobian matrix, JTIs a transpose of a jacobian matrix;
the periodic disturbance control signal is introduced into the low-speed area to enable the position of the joint to oscillate, and Coulomb friction is assumed to be a uniformly distributed random variable related to speed, so that the maximum likelihood estimation problem of friction and external force is further converted into the following optimal estimation problem:
Figure FDA0003170375410000014
subject to τfmin≤τf≤τfmax
wherein: reAnd RefFor the two arrays of estimation error variances,
Figure FDA0003170375410000015
estimating a mean value for the external force, set by prior data;
Figure FDA0003170375410000016
the difference between the motor control moment and the moment which can be accurately modeled, such as inertia force, Coriolis force and gravity, is as follows:
Figure FDA0003170375410000017
the global optimal solution of the further optimal estimation problem is:
Figure FDA0003170375410000018
the external moment estimation problem is converted into a joint control force observation and friction force estimation problem;
step S2, generating joint vibration control signals according to the model established in step S1, wherein the function of the joint vibration control signals is as follows:
Figure FDA0003170375410000021
wherein: t is the time for entering the friction dead zone; amp is the amplitude of the dither signal, determined by the amplitude of the coulomb friction, which is identified by the kinetic parameters, FcIs the coulomb friction coefficient;
Figure FDA0003170375410000022
as a periodic square wave function, TditherFor dithering the control signal period, the frequency of the dither signal
Figure FDA0003170375410000023
Determined by the dynamic response characteristics of coulomb friction; t isrampRamp-up time for the dither control signal;
step S3, using active vibration control to improve the response characteristic of the system in the friction force dead zone, and transmitting the external force interference to the joint control torque through the joint control;
step S4, extracting an external force signal, including: and obtaining the external acting force at the tail end of the robot by extracting the median of the active jitter control signal in real time and comparing the median with the motor control torque.
2. An industrial robot external force estimation method based on dither control according to claim 1, characterized in that said joint friction force
Figure FDA0003170375410000024
Expressed in a linear model, including both kinetic and coulombic friction terms:
Figure FDA0003170375410000025
wherein, Fv、FcThe coefficient of dynamic friction and the coefficient of coulomb friction are respectively.
3. An industrial robot external force estimation method based on dither control according to claim 1, characterized in that in said step S2,
in the shaking rising section of the friction dead zone, the initial median and the amplitude of the shaking control signal are zero, and the median target value is the active control moment for overcoming the inertia force, the Coriolis force and the gravity
Figure FDA0003170375410000026
The target value of the amplitude is Coulomb friction amplitude alpha FcWherein, alpha is an adjusting coefficient;
in the friction dead zone jitter saturation section, the active jitter control signal keeps stable-median uniform oscillation without external interference until the joint motion state is converted into a sliding friction zone under the action of external interference, the Coulomb friction force direction is accurately judged by the collected data of a motor encoder in the sliding friction zone, the friction force is accurately estimated according to a friction force model and dynamics identification parameters, and the active jitter control is cancelled until the joint motion enters the friction dead zone again.
4. A jitter control based external force estimation method for an industrial robot according to claim 1 wherein in step S3, the controller is used to cancel the position loop control action and simultaneously increase the system response characteristic of the stiction region by increasing the velocity loop proportional gain in coordination with the active jitter control signal.
5. The jitter control-based external force estimation method of an industrial robot according to claim 1, wherein the step S4 includes the steps of:
(1) solving the motor control torque value, and estimating by the average value of the actual control torque sliding window
Figure FDA0003170375410000031
(2) Estimating the sum of the external moment and the friction force of the joint
Figure FDA0003170375410000032
(3) Estimating joint friction
Figure FDA0003170375410000033
(4) Estimating robot tip external forces
Figure FDA0003170375410000034
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