CN107160396B - A kind of robot vibration controller and method based on track optimizing - Google Patents
A kind of robot vibration controller and method based on track optimizing Download PDFInfo
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- CN107160396B CN107160396B CN201710432259.7A CN201710432259A CN107160396B CN 107160396 B CN107160396 B CN 107160396B CN 201710432259 A CN201710432259 A CN 201710432259A CN 107160396 B CN107160396 B CN 107160396B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40448—Preprocess nodes with arm configurations, c-space and planning by connecting nodes
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Abstract
The present invention relates to a kind of robot vibration controller and method based on track optimizing.Solves the problems, such as the existing industrial robot structural vibration that mechanical linkage and actuated element cause in the process of running.Controller includes task input module, adjustment module, control output module.Pass through the planning and adjusting to robot task track, joint of robot movement is reduced in the runing time in vibration section, the oscillation phenomenon that robot causes due to system flexibility is slowed down, to ensure that continuous, the even running of robot manipulating task, improves the homework precision of robot.
Description
Technical field
The present invention relates to a kind of industrial robot control technology fields, more particularly, to a kind of reduction vibration based on track
The robot vibration controller and method of optimization.
Background technique
The control target of industrial robot includes the quick and exact operations to operational instrument.However due to robot system
The flexible characteristic that link component and driving original part have, industrial robot are easy to face asking for structural vibration in the process of running
Topic, especially robot be in the weaker position shape structure of rigidity, robot manipulating task motion range is larger and fast speed
In the case of.This problem will cause the uncontrolled movement of end effector of robot, generate to the homework precision of industrial robot
Large effect is unfavorable for the stable operation of robot system, influences the performance of industrial robot.In addition, in operational process
Uncontrolled movement also has an impact the operational safety of industrial robot, is unfavorable for the steady progress of production operation.
Existing robot damping control technology is roughly divided into two classes: being realized by adding mechanical device and is run to robot
Vibration damping control and building feedback controller realize the vibration control to robot system.The former passes through in robot system
Increase additional mechanical structure, improve the kinetic characteristics of robot, so as to improve the oscillation phenomenon in robot operational process.
For example, application publication number is the patent of invention in CN102829118 A, a kind of robot passive energy dissipation method and realization are disclosed
Device.This method for realizing shockproof control by mechanical device, needs system to increase additional hardware, increases system complex
Degree and cost.And design method needs to carry out complicated operation according to the specific mechanical property of robot system, does not have universal
Property, it is difficult to it is widely applied.
The vibration-reducing control method of building feedback controller mostly obtains the operation of robot using acceleration/vibration sensor
State, and feedback controller is constructed to realize the vibration control to robot system by complicated control algolithm, such as ask public affairs
Cloth number is the patent of invention in CN106094528 A.The controller architecture and design process of such methods are complex, to control
The operational capability of device is more demanding, is unfavorable for the universal of relevant art and promotes.In addition, above-mentioned vibration damping controller design method master
It to be directed to the operational movement process of robot point-to-point, and the tracking for the track that is not directed to work continuously executes.For continuous
Job task, such as spray, cutting, polishing operation, the position and attitude progress for generally requiring control end effector is continuous accurate
Variation.Above-mentioned vibration damping controller design method does not consider the Position-Attitude control of robot in robot operating status,
It is difficult to meet actual job demand.
Summary of the invention
Mechanical linkage and actuated element draw industrial robot in the process of running in the prior art for the present invention mainly solution
The problem of structural vibration of hair, provides a kind of robot vibration controller based on track optimizing for reducing vibration and side
Method.
Above-mentioned technical problem of the invention is mainly to be addressed by following technical proposals: one kind is based on track optimizing
Robot vibration controller, it is characterised in that including be sequentially connected task input module, adjustment module, control output mould
Block, adjustment module includes the trajectory planning unit being sequentially connected, kinematics solution unit, vibration detecting unit and track optimizing list
Member, task input module are connected with trajectory planning unit, and track optimizing unit is connected with control output module；
Trajectory planning unit: according to the operation task of input, end effector is generated in the operation of operating space discretization
Task coordinate sequence；
Kinematics solution unit: it according to operation task coordinate sequence, executes Inverse Kinematics Solution and calculates, generate control robot
Joint position shape instruction sequence needed for movement；
Vibration detecting unit: robot is obtained by calculus of differences according to joint position shape instruction sequence and executes operation task institute
The joint velocity curve needed, and according to the resonant speed core section in each joint, judge whether corresponding joint causes system vibration
It is dynamic；
Track optimizing unit: adjustment is optimized according to speed trajectory of the judging result to vibration segment.
The present invention reduces joint of robot movement in vibration section by the planning and adjusting to robot task track
Runing time slows down the oscillation phenomenon that robot causes due to system flexibility, to ensure that the continuous, flat of robot manipulating task
Steady operation, improves the homework precision of robot.Task input module controls output module for inputting robot manipulation's task
By the joint velocity Curve transform after optimization at joint position shape instruction sequence, it is sent to end effector.
A kind of robot vibration control method based on track optimizing, using the controller in claim 1, including it is following
Step:
S1. determine that each joint resonant speed of robot adjusts section；
S2. operation task track is generated according to input operation task；
S3. kinematics solution is carried out to task track, joint position shape instruction sequence needed for obtaining control robot motion；
S4. the vibration of each joint is judged in advance according to joint position shape instruction sequence；
S5. adjustment is optimized in the track of vibration segment to joint；
S6. joint position shape instruction sequence is converted into according to the rate curve after optimization.
The method of the present invention reduces joint of robot movement in vibrating area by the planning and adjusting to robot task track
Between runing time, the oscillation phenomenon that robot causes due to system flexibility is slowed down, to ensure that the company of robot manipulating task
Continuous, even running, improves the homework precision of robot.The track adjusting method that controller uses is closed only for robot
The operating status saved in vibration section is adjusted, and does not influence the robot manipulating task time, and do not influence the sky of job task
Half interval contour shape is suitble to the tracking to track of working continuously to execute.The present invention in robot system without increasing additional vibration
The add ons such as dynamic sensor.
As kinematical theory it is found that joint motions pass through resonant speed section needed for time T are as follows:Wherein: v1For the joint velocity for entering resonant speed section, v2For off-resonance speed
The joint velocity in section, a (t) are the corresponding acceleration of joint motions.It is assumed that in resonant speed section, system vibration
Natural frequency ω variation is smaller, is approximately constant, then passes through fluctuation frequency n brought by vibration section about are as follows:F is vibration frequency.By optimizing tune to joint of robot rate curve
Whole, time T that robot corresponding joint speed can be made to be in resonant speed section reduces, and robot system occurs at this time
The frequency n of vibration will also reduce.Operation task track executes the integral square error index of tracing deviation e (t)Integrating range reduce, thus index value also reduces accordingly, thus
Robot is improved to the execution precision of operation task, improves the performance that robot is run in resonant speed section.
As a preferred embodiment, the obtaining step in each joint resonance adjustment speed section includes: in step S1
S11. resonant speed v is calculated according to robot system intrinsic vibration coefficient0, according to robot rigidity and machinery
Coefficient obtains resonant speed core section [v10 v20]；
S12. according to resonant speed core section [v10 v20] setting joint resonant speed adjust section [v1 v2]。
For the robot system with flexible member, it is thus necessary to determine that its resonant speed interval range, to determine that vibration is excellent
Change the target of control.There is flexible robot for joint, due to using flexible drive element, joint has flexible characteristic.
For example, according to the drive characteristic of harmonic gear: one circle of harmonic gear rotation will produce using the robot of harmonic wave speed reducing machine
Raw two harmonic excitations.When robot system operates in system eigentone, the harmonic wave tradition of robot will lead to knot
Structure resonates.The resonance speed can be calculated by intrinsic vibration coefficient.
As a preferred embodiment, operation task track generation step includes: in step S2
S21. the geometric locus that end effector continuously moves in operation task space is generated according to the operation task of input；
S22. by path curves discretization, task location/posture target point sequence in operation task space is obtained.
This programme generates target point sequence in space according to operation task, and this method is known technology.Due to modern machines
People's system mostly uses digital computer to control, and operation task track should carry out corresponding discretization.
As a preferred embodiment, joint position shape instruction sequence obtains detailed process in step S3 are as follows: according to system, robot
The structural parameters of system carry out kinematics solution to task location/posture target point sequence, obtain corresponding to robot manipulation's task
Joint space configuration coordinate, using joint space configuration coordinate as joint space position shape instruction sequence.
As a preferred embodiment, vibrating the detailed process judged in advance to each joint in step S4 includes:
S41. according to joint space position shape instruction sequence, corresponding joint is obtained by calculus of differences and moves corresponding speed,
And formation speed curve；
S42. according to the resonant speed core section of acquisition, detect whether that articulate movement velocity enters resonant speed core
Between heart district and resonate；
S43. corresponding joint the joint configuration coordinate, pass when entering and leaving resonant speed and adjusting section are determined if having
Save speed and joint velocity.Joint velocity can be obtained by joint velocity by calculus of differences.
As a preferred embodiment, the specific steps optimized and revised in step S5 include:
S51. note joint velocity curve is in resonant speed v0When corresponding joint coordinates p0, joint velocity a0, when corresponding
Carve t0；
Joint velocity curve adjusts interval border v in resonant speed2Corresponding joint coordinates p when place2, joint velocity a2,
T at the time of corresponding2；
Joint velocity curve adjusts interval border v in resonant speed1Corresponding joint coordinates p when place1, joint velocity a1,
T at the time of corresponding1；
S52. five rank multinomial planning are carried out to joint coordinates, if the corresponding five rank multinomials curve of joint coordinates p is
P (t)=at5+b·t4+c·t3+d·t2+e·t1+f·t0,
Wherein a, b, c, d, e, f are polynomial parameters,
The corresponding rate curve in joint is
The corresponding accelerating curve in joint is
S53. by joint resonant speed v0Place's joint velocity is adjusted to ka0, wherein k is adjustment parameter, k >=1；
By joint resonant speed v0Locate corresponding joint coordinates and is adjusted to λ p1+(1-λ)p2, wherein for λ adjustment parameter, λ ∈
[0.5 1]；K and λ rule of thumb choose, and it is further excellent to k and λ progress can to set additional optimizations index according to actual needs
Change.
S54. section [v is adjusted to resonant speed respectively1 v0] and [v0 v2] in joint velocity carry out planning and adjusting,
Subinterval [v1 v0] edge-restraint condition are as follows:
p1=p (t1)=at1 5+b·t1 4+c·t1 3+d·t1 2+e·t1 1+f·t1 0
v1=v (t1)=5at1 4+4b·t1 3+3c·t1 2+2d·t1 1+1e·t1 0
a1=a (t1)=20at1 3+12b·t1 2+6c·t1 1+2d·t1 0
λp1+(1-λ)p2=at0 5+b·t0 4+c·t0 3+d·t0 2+e·t0 1+f·t0 0
v0=v (t0)=5at0 4+4b·t0 3+3c·t0 2+2d·t0 1+1e·t0 0
k·a0=a (t0)=20at0 3+12b·t0 2+6c·t0 1+2d·t0 0
Subinterval [v is found out according to above-mentioned boundary condition1 v0] corresponding multinomial coefficient a, b, c, d, e, f；
Subinterval [v0 v2] edge-restraint condition are as follows:
p2=p (t2)=at2 5+b·t2 4+c·t2 3+d·t2 2+e·t2 1+f·t2 0
v2=v (t2)=5at2 4+4b·t2 3+3c·t2 2+2d·t2 1+1e·t2 0
a2=a (t2)=20at2 3+12b·t2 2+6c·t2 1+2d·t2 0
λp1+(1-λ)p2=at0 5+b·t0 4+c·t0 3+d·t0 2+e·t0 1+f·t0 0
v0=v (t0)=5at0 4+4b·t0 3+3c·t0 2+2d·t0 1+1e·t0 0
k·a0=a (t0)=20at0 3+12b·t0 2+6c·t0 1+2d·t0 0
Subinterval [v is found out according to above-mentioned boundary condition0 v2] corresponding multinomial coefficient a, b, c, d, e, f；
S55. according to speed subranges [v1 v0] and [v0 v2] in the multinomial coefficient that acquires, determine in subinterval respectively
Rate curve, complete adjusting to joint velocity.
Therefore, the invention has the advantages that 1. by the planning and adjusting to robot task track, joint of robot is reduced
The runing time in vibration section is moved, the oscillation phenomenon that robot causes due to system flexibility is slowed down, to ensure that machine
Continuous, the even running of device people's operation, improve the homework precision of robot.2. the track adjusting method that controller uses, only
It is adjusted only for operating status of the joint of robot in vibration section, does not influence the robot manipulating task time, and not shadow
The space curve shape of job task is rung, the tracking to track of working continuously is suitble to execute.3. the present invention is without in system, robot
Increase the add ons such as additional vibrating sensor in system.
Detailed description of the invention
Attached drawing 1 is a kind of structural frames diagram of the invention；
Attached drawing 2 is a kind of flow diagram of the method for the present invention；
Attached drawing 3 is track optimizing front and back speed curve diagram in the embodiment of the present invention 2；
Attached drawing 4 is the corresponding joint velocity curve graph of task before optimizing in the embodiment of the present invention 3；
Attached drawing 5 is the corresponding joint velocity curve graph of task after optimizing in the embodiment of the present invention 3；
Attached drawing 6 is optimization front and back 2 velocity contrast of joint figure in the embodiment of the present invention 3；
Attached drawing 7 is the local contrast figure that 2 speed of optimization front and back joint enters resonant speed section in the embodiment of the present invention 3；
Attached drawing 8 is the local contrast figure of 2 speed off-resonance speed interval of optimization front and back joint in the embodiment of the present invention 3.
1- task input module 2- adjusts module 21- trajectory planning unit 22- kinematics solution unit 23- vibration inspection
It surveys unit 24- track optimizing unit 3- and controls output module.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
Embodiment 1:
A kind of robot vibration controller based on track optimizing of the present embodiment, as shown in Figure 1, including times being sequentially connected
Business input module 1, adjustment module 2, control output module 3, adjustment module include the trajectory planning unit 21 being sequentially connected, movement
It learns solution unit 22, vibration detecting unit 23 and track optimizing unit 24, task input module to be connected with trajectory planning unit, rail
Mark optimizes unit and is connected with control output module；
Trajectory planning unit: according to the operation task of input, end effector is generated in the operation of operating space discretization
Task coordinate sequence；
Kinematics solution unit: it according to operation task coordinate sequence, executes Inverse Kinematics Solution and calculates, generate control robot
Joint position shape instruction sequence needed for movement；
Vibration detecting unit: robot is obtained by calculus of differences according to joint position shape instruction sequence and executes operation task institute
The joint velocity curve needed, and according to the resonant speed core section in each joint, judge whether corresponding joint causes system vibration
It is dynamic；
Track optimizing unit: adjustment is optimized according to speed trajectory of the judging result to vibration segment.
A kind of robot vibration control method based on track optimizing, as shown in Figure 2, comprising the following steps:
S1. determine that each joint resonant speed of robot adjusts section；It specifically includes:
S11. resonant speed v is calculated according to robot system intrinsic vibration coefficient0, according to robot rigidity and machinery
Coefficient obtains resonant speed core section [v10 v20]；
S12. according to resonant speed core section [v10 v20] setting joint resonant speed adjust section [v1 v2]。
S2. operation task track is generated according to input operation task；It specifically includes:
S21. the geometric locus that end effector continuously moves in operation task space is generated according to the operation task of input；
S22. by path curves discretization, task location/posture target point sequence in operation task space is obtained.
S3. kinematics solution is carried out to task track, joint position shape instruction sequence needed for obtaining control robot motion；
Detailed process are as follows: according to the structural parameters of robot system, kinematics solution is carried out to task location/posture target point sequence,
Joint space configuration coordinate corresponding to robot manipulation's task is obtained, using joint space configuration coordinate as joint space position shape
Instruction sequence.
S4. the vibration of each joint is judged in advance according to joint position shape instruction sequence；Detailed process includes:
S41. according to joint space position shape instruction sequence, corresponding joint is obtained by calculus of differences and moves corresponding speed,
And formation speed curve；
S42. according to the resonant speed core section of acquisition, detect whether that articulate movement velocity enters resonant speed core
Between heart district and resonate；
S43. corresponding joint the joint configuration coordinate, pass when entering and leaving resonant speed and adjusting section are determined if having
Save speed and joint velocity.
S5. the rate curve to joint in vibration segment optimizes adjustment；Specific steps include:
S51. note joint velocity curve is in resonant speed v0When corresponding joint coordinates p0, joint velocity a0, when corresponding
Carve t0；
Joint velocity curve adjusts interval border v in resonant speed2Corresponding joint coordinates p when place2, joint velocity a2,
T at the time of corresponding2；
Joint velocity curve adjusts interval border v in resonant speed1Corresponding joint coordinates p when place1, joint velocity a1,
T at the time of corresponding1；
S52. five rank multinomial planning are carried out to joint coordinates, if the corresponding five rank multinomials curve of joint coordinates p is
P (t)=at5+b·t4+c·t3+d·t2+e·t1+f·t0,
Wherein a, b, c, d, e, f are polynomial parameters,
The corresponding rate curve in joint is
The corresponding accelerating curve in joint is
S53. by joint resonant speed v0Place's joint velocity is adjusted to ka0, wherein k is adjustment parameter, k >=1；
By joint resonant speed v0Locate corresponding joint coordinates and is adjusted to λ p1+(1-λ)p2, wherein for λ adjustment parameter, λ ∈
[0.5 1]；K and λ rule of thumb choose, and it is further excellent to k and λ progress can to set additional optimizations index according to actual needs
Change.
S54. section [v is adjusted to resonant speed respectively1 v0] and [v0 v2] in joint velocity carry out planning and adjusting,
Subinterval [v1 v0] edge-restraint condition are as follows:
p1=p (t1)=at1 5+b·t1 4+c·t1 3+d·t1 2+e·t1 1+f·t1 0
v1=v (t1)=5at1 4+4b·t1 3+3c·t1 2+2d·t1 1+1e·t1 0
a1=a (t1)=20at1 3+12b·t1 2+6c·t1 1+2d·t1 0
λp1+(1-λ)p2=at0 5+b·t0 4+c·t0 3+d·t0 2+e·t0 1+f·t0 0
v0=v (t0)=5at0 4+4b·t0 3+3c·t0 2+2d·t0 1+1e·t0 0
k·a0=a (t0)=20at0 3+12b·t0 2+6c·t0 1+2d·t0 0
Subinterval [v is found out according to above-mentioned boundary condition1 v0] corresponding multinomial coefficient a, b, c, d, e, f；
Subinterval [v0 v2] edge-restraint condition are as follows:
p2=p (t2)=at2 5+b·t2 4+c·t2 3+d·t2 2+e·t2 1+f·t2 0
v2=v (t2)=5at2 4+4b·t2 3+3c·t2 2+2d·t2 1+1e·t2 0
a2=a (t2)=20at2 3+12b·t2 2+6c·t2 1+2d·t2 0
λp1+(1-λ)p2=at0 5+b·t0 4+c·t0 3+d·t0 2+e·t0 1+f·t0 0
v0=v (t0)=5at0 4+4b·t0 3+3c·t0 2+2d·t0 1+1e·t0 0
k·a0=a (t0)=20at0 3+12b·t0 2+6c·t0 1+2d·t0 0
Subinterval [v is found out according to above-mentioned boundary condition0 v2] corresponding multinomial coefficient a, b, c, d, e, f；
S55. according to speed subranges [v1 v0] and [v0 v2] in the multinomial coefficient that acquires, determine in subinterval respectively
Rate curve, complete adjusting to joint velocity.
S6. joint position shape instruction sequence is converted into according to the rate curve after optimization.
Embodiment 2:
The present embodiment carries out vibration to simple joint motion process using specific example and optimizes and revises result and be illustrated.For
Without loss of generality, consider that simple joint does one section of constant movement of acceleration, and normalized done to the boundary condition of movement,
I.e. joint initial position be p (0)=0 radian, initial velocity be v (0)=0 radian per second, initial acceleration be a (0)=0 radian/
Second2, motion process duration is 1 second, at the end of motion process, and desired locations target is p (1)=0.5 radian, desired speed
For v (1)=1 radian per second, it is expected that acceleration is a (1)=1 radian per second2。
It is assumed that system occurs to vibrate corresponding joint velocity to be v=0.5 radian per second, vibrating corresponding speed interval is
[0.3,0.7] radian per second.When not doing track optimizing, by uniformly accelrated rectilinear motion process it is found that joint motions are in vibration velocity
The operation duration in section is 0.4 second, as shown in Fig. 3 finishing line.
Adjustment is now optimized to the motion profile of robot using optimization method, in gained Optimal Curve result such as Fig. 3
Shown in dotted line.At this point, operation duration of the joint motions in vibration velocity section is 0.12 second.In contrast to being not optimised as a result, closing
Operation duration of the section movement in vibration velocity section shortens 70%, and the vibration number of robot system operation is greatly diminished,
Improve the stationarity in robot operational process.
Embodiment 3:
The present embodiment is illustrated Multi-link Robot Manipulators structure vibration controlling result using specific example.Herein
Provide the track optimizing Numerical Simulation Results that the six axis all-purpose robot platforms based on PUMA560 carry out.It is assumed that puma560 is initial
Joint configuration coordinate is qn=[0 pi/2 π, 0 pi/2 0] radian.Operation task be control end flange along the vertical direction to
Upper 0.5 meter of movement and to save posture constant, the motion process duration is 1 second, and sets the resonant speed area of joint of robot 2
For 0.475 to 0.525 radian per second, siding-to-siding block length is about 50 revs/min.The SERVO CONTROL frequency of robot system is 5kHz, control
Period is 200 microseconds.When without track optimizing, joint velocity curve corresponding to operation task is as shown in Figure 4.
It is 136 that joint 2, which counts (vibration number) in the vibration velocity section cycle of operation,.Now using track optimizing method to pass
Section track is adjusted.Obtained operation task rate curve is as shown in Figure 5: joint 2 run in vibration velocity section when
Between length be 56 periods, reduce 58.8% relative to not optimized result, robot is during executing operation task
It vibrates and substantially reduces as caused by joint 2.Optimization front and back, the comparison of 2 rate curve of joint are as shown in Figure 6.It can be seen that Jin Jin
In vibration velocity section, the program results of the two are had differences, as shown in Figure 7 and Figure 8.From the figure, it can be seen that by optimization
The time that 2 speed of joint afterwards passes through vibration velocity section is reduced, and reduces task execution deviation caused by vibration.And it is vibrating
Outside speed interval, it is optimized after execution track and optimization before result be consistent, maintain operation task executes essence
Degree.
Specific embodiment described herein is only an example for the spirit of the invention.The neck of technology belonging to the present invention
The technical staff in domain can make various modifications or additions to the described embodiments or replace by a similar method
In generation, however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Although task input module, adjustment module, trajectory planning unit, kinematics solution unit is used more herein
Equal terms, but it does not exclude the possibility of using other terms.The use of these items is only for more easily describe to conciliate
Release essence of the invention；Being construed as any additional limitation is disagreed with spirit of that invention.
Claims (7)
1. a kind of robot vibration controller based on track optimizing, it is characterised in that the task including being sequentially connected inputs mould
Block, adjustment module, control output module, adjustment module include the trajectory planning unit being sequentially connected, kinematics solution unit, vibration
Dynamic detection unit and track optimizing unit, task input module are connected with trajectory planning unit, and track optimizing unit and control are defeated
Module is connected out；
Trajectory planning unit: according to the operation task of input, end effector is generated in the operation task of operating space discretization
Coordinate sequence；
Kinematics solution unit: it according to operation task coordinate sequence, executes Inverse Kinematics Solution and calculates, generate control robot motion
Required joint position shape instruction sequence；
Vibration detecting unit: needed for obtaining robot execution operation task by calculus of differences according to joint position shape instruction sequence
Joint velocity curve, and according to the resonant speed core section in each joint, judge whether corresponding joint causes system vibration；
Track optimizing unit: adjustment is optimized according to speed trajectory of the judging result to vibration segment.
2. a kind of robot vibration control method based on track optimizing, using the controller in claim 1, it is characterized in that packet
Include following steps:
S1. determine that each joint resonant speed of robot adjusts section；
S2. operation task track is generated according to input operation task；
S3. kinematics solution is carried out to task track, joint position shape instruction sequence needed for obtaining control robot motion；
S4. the vibration of each joint is judged in advance according to joint position shape instruction sequence；
S5. the rate curve to joint in vibration segment optimizes adjustment；
S6. joint position shape instruction sequence is converted into according to the rate curve after optimization.
3. a kind of robot vibration control method based on track optimizing according to claim 2, it is characterized in that step S1
In each joint resonant speed adjust the obtaining step in section and include:
S11. resonant speed v is calculated according to robot system intrinsic vibration coefficient0, according to robot rigidity and mechanical index
Obtain resonant speed core section [v10 v20]；
S12. according to resonant speed core section [v10 v20] setting joint resonant speed adjust section [v1 v2]。
4. a kind of robot vibration control method based on track optimizing according to claim 2, it is characterized in that step S2
Middle operation task track generation step includes:
S21. the geometric locus that end effector continuously moves in operation task space is generated according to the operation task of input；
S22. by path curves discretization, task location/posture target point sequence in operation task space is obtained.
5. a kind of robot vibration control method based on track optimizing according to claim 4, it is characterized in that step S3
Middle joint position shape instruction sequence obtains detailed process are as follows: according to the structural parameters of robot system, to task location/posture target
Point sequence carries out kinematics solution, obtains joint space configuration coordinate corresponding to robot manipulation's task, and joint position shape is sat
It is denoted as joint position shape instruction sequence.
6. a kind of robot vibration control method based on track optimizing according to claim 5, it is characterized in that step S4
In include: to each joint detailed process for being judged in advance of vibration
S41. according to joint position shape instruction sequence, corresponding joint is obtained by calculus of differences and moves corresponding speed, and generates speed
It writes music line；
S42. according to the resonant speed core section of acquisition, detect whether that articulate movement velocity enters resonant speed core space
Between and resonate；
S43. corresponding joint the joint configuration coordinate, joint speed when entering and leaving resonant speed and adjusting section are determined if having
Degree and joint velocity.
7. a kind of robot vibration control method based on track optimizing according to claim 6, it is characterized in that step S5
In the specific steps optimized and revised include:
S51. note joint velocity curve is in resonant speed v0When corresponding joint configuration coordinate p0, joint velocity a0, when corresponding
Carve t0；
Joint velocity curve adjusts interval border v in resonant speed2Corresponding joint configuration coordinate p when place2, joint velocity a2,
T at the time of corresponding2；
Joint velocity curve adjusts interval border v in resonant speed1Corresponding joint configuration coordinate p when place1, joint velocity a1,
T at the time of corresponding1；
S52. five rank multinomial planning are carried out to joint configuration coordinate, if the corresponding five rank multinomials curve of joint configuration coordinate p
For
P (t)=at5+b·t4+c·t3+d·t2+e·t1+f·t0,
Wherein a, b, c, d, e, f are polynomial parameters,
The corresponding rate curve in joint is
The corresponding accelerating curve in joint is
S53. by joint resonant speed v0Place's joint velocity is adjusted to ka0, wherein k is adjustment parameter, k >=1；
By joint resonant speed v0Locate corresponding joint coordinates and is adjusted to λ p1+(1-λ)p2, wherein for λ adjustment parameter, λ ∈ [0.5
1]；
S54. subinterval [v is adjusted to resonant speed respectively1 v0] and [v0 v2] in joint velocity carry out planning and adjusting,
Resonant speed adjusts subinterval [v1 v0] edge-restraint condition are as follows:
p1=p (t1)=at1 5+b·t1 4+c·t1 3+d·t1 2+e·t1 1+f·t1 0
v1=v (t1)=5at1 4+4b·t1 3+3c·t1 2+2d·t1 1+1e·t1 0
a1=a (t1)=20at1 3+12b·t1 2+6c·t1 1+2d·t1 0
λp1+(1-λ)p2=at0 5+b·t0 4+c·t0 3+d·t0 2+e·t0 1+f·t0 0
v0=v (t0)=5at0 4+4b·t0 3+3c·t0 2+2d·t0 1+1e·t0 0
k·a0=a (t0)=20at0 3+12b·t0 2+6c·t0 1+2d·t0 0
Resonant speed, which is found out, according to above-mentioned edge-restraint condition adjusts subinterval [v1 v0] corresponding multinomial coefficient a, b, c, d,
e,f；
Resonant speed adjusts subinterval [v0 v2] edge-restraint condition are as follows:
p2=p (t2)=at2 5+b·t2 4+c·t2 3+d·t2 2+e·t2 1+f·t2 0
v2=v (t2)=5at2 4+4b·t2 3+3c·t2 2+2d·t2 1+1e·t2 0
a2=a (t2)=20at2 3+12b·t2 2+6c·t2 1+2d·t2 0
λp1+(1-λ)p2=at0 5+b·t0 4+c·t0 3+d·t0 2+e·t0 1+f·t0 0
v0=v (t0)=5at0 4+4b·t0 3+3c·t0 2+2d·t0 1+1e·t0 0
k·a0=a (t0)=20at0 3+12b·t0 2+6c·t0 1+2d·t0 0
Resonant speed, which is found out, according to above-mentioned edge-restraint condition adjusts subinterval [v0 v2] corresponding multinomial coefficient a, b, c, d,
e,f；
S55. subinterval [v is adjusted according to resonant speed1 v0] and [v0 v2] in the multinomial coefficient that acquires, determine resonance speed respectively
Degree adjusts the rate curve in subinterval, completes the adjusting to joint velocity.
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| JP6661676B2 (en) | 2018-01-18 | 2020-03-11 | ファナック株式会社 | Robot controller |
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| CN110696051B (en) * | 2019-10-12 | 2022-12-06 | 中科新松有限公司 | Mechanical arm joint vibration identification method based on multi-component signal decomposition |
| CN111459017B (en) * | 2020-04-07 | 2021-07-27 | 北京北特圣迪科技发展有限公司 | Numerical control discrete speed curve planning method |
| CN114970227B (en) * | 2021-11-10 | 2024-01-05 | 昆明理工大学 | Joint vibration solving method of industrial robot based on joint current and modal analysis |
| CN116901086B (en) * | 2023-09-13 | 2023-11-28 | 千里眼(广州)人工智能科技有限公司 | Intelligent algorithm-based control method for optimizing industrial robot track |
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