CN108247636B - Parallel robot closed-loop feedback control method, system and storage medium - Google Patents
Parallel robot closed-loop feedback control method, system and storage medium Download PDFInfo
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Abstract
The invention relates to a closed-loop feedback control method, a closed-loop feedback control system and a storage medium for a parallel robot. The control method comprises the following steps: obtaining Euler angle of expected attitude of parallel robot moving platform
Obtaining Euler angle q of current attitude of parallel robot moving platformzyx(ii) a Calculating the Euler angle q of the current attitudezyxAnd the desired attitude Euler angle
And performing closed-loop control on the parallel robot moving platform by using a linear model according to the difference value. The invention provides a closed-loop control method of a parallel robot derived from a kinematic differential model, which obtains a linear control model by linearizing a nonlinear kinematic model of the parallel robot and then realizes closed-loop feedback control based on Cartesian space for the parallel robot based on the linear control model. Compared with the nonlinear control mode in the prior art, the method has the advantages that the control precision is greatly improved, and the robustness is better.
Description
Technical Field
The invention relates to the technical field of parallel robots, in particular to a parallel robot closed-loop feedback control method, a parallel robot closed-loop feedback control system and a storage medium.
Background
In terms of robot mechanics, robots are divided into a parallel robot and a series robot, the parallel robot has the characteristics of high rigidity, high acceleration, high precision and the like, and is more applied to occasions with large load at the tail end and high precision requirement, so that the control precision of the parallel robot is emphasized. In order to improve the working accuracy of the parallel robot, several aspects such as mechanism design, improvement of the precision of machining and assembling parts, and application of feedback control based on motion signals may be considered.
From the control point of view, the robot kinematics closed-loop control is divided into joint space control and end-operating task space (generally cartesian space) control. The joint space control utilizes the angle sensor at the joint to carry out closed-loop control on the driving unit, is easy to realize on hardware and software algorithms, but does not obviously improve the execution precision of the robot task. The common parallel robot is generally in closed-loop control of joint space, namely a reverse kinematics model is established by means of an angle sensor at a joint, the motion of a task space is converted into the motion of the joint space, and the motion control of the task space is realized by means of the closed-loop control of a joint driver.
The terminal operation task space control, namely the Cartesian space closed-loop control needs to establish the explicit expression of a kinematics model of a driving space and a Cartesian space, then the aim of utilizing Cartesian space motion sensing information to perform closed-loop feedback control on a driver is achieved, and the robot task operation precision can be directly improved. However, at present, a kinematics model of a cartesian space control mode is generally a nonlinear model, and the nonlinear model causes difficulty in adopting kinematics feedback control based on the model, and seriously affects the control accuracy of the parallel robot motion.
Disclosure of Invention
In view of the foregoing analysis, the present invention provides a parallel robot closed-loop feedback control method, system and storage medium, so as to solve the problem of low motion control accuracy of the existing parallel robot.
The purpose of the invention is mainly realized by the following technical scheme:
in one aspect, the present invention provides a closed-loop feedback control method for a parallel robot, including the following steps: obtaining Euler angle of expected attitude of parallel robot moving platformObtaining Euler angle q of current attitude of parallel robot moving platformzyx(ii) a Calculating the Euler angle q of the current attitudezyxAnd the desired attitude Euler angle
And performing closed-loop control on the parallel robot moving platform by using a linear model according to the difference value.
The embodiment of the invention provides a closed-loop control method of a parallel robot derived from a kinematic differential model, which comprises the steps of linearizing a nonlinear kinematic model of the parallel robot to obtain a linear control model, and then realizing closed-loop feedback control based on a Cartesian space on the parallel robot based on the linear control model. Compared with the nonlinear control mode in the prior art, the embodiment of the invention not only greatly improves the control precision, but also has better robustness.
Further, in the closed-loop feedback control method of the parallel robot, the linear control model is:
in the above formula, the first and second carbon atoms are,
the linear motion speed of the branched chain is shown, lambda is a control error convergence coefficient, and D.H is a coefficient matrix of the parallel robot mechanism configuration.
Further, in the closed-loop feedback control method for the parallel robot, D, H in the linear control model respectively are:
D＝[(PB1×u1)T(PB2×u2)T……(PBi×ui)T]
in the above formula, i is the number of branched chains; q. q.sy、qxEuler angles of rotation about the y-axis and x-axis respectively,PB1、PB2…PBiis the coordinate, u, of each static platform branch chain endpoint under the moving coordinate system P1、u2…uiT represents the transposition for the unit direction vector of the movement of each branch.
Further, in the closed-loop feedback control method of the parallel robot, the number of the branched chains is 3,4 or 5.
Further, in the closed-loop feedback control method of the parallel robot, the branched chain is driven by a motor, a rope, a hydraulic or a pneumatic muscle.
In another aspect, the present invention further provides a parallel robot closed-loop feedback control system, including: a first acquisition module for acquiring the Euler angle q of the expected attitude of the parallel robot moving platformzyx(ii) a A second acquisition module for acquiring the Euler angle q of the current attitude of the parallel robot moving platformzyx(ii) a A calculation module for calculating the Euler angle q of the current attitudezyxAnd the desired attitude Euler angle qzyxAnd performing closed-loop control on the parallel robot moving platform by using a linear model according to the difference value.
Further, in the closed-loop feedback control system for the parallel robot, the linear control model in the calculation module is:
in the above formula, the first and second carbon atoms are,
the linear motion speed of the branched chain is shown, lambda is a control error convergence coefficient, and D.H is a coefficient matrix of the parallel robot mechanism configuration.
In the closed-loop feedback control system for a parallel robot, D, H of the linear control model in the calculation module are respectively:
D＝[(PB1×u1)T(PB2×u2)T……(PBi×ui)T]
in the above formula, i is the number of branched chains; q. q.sy、qxEuler angles of rotation about the y-axis and x-axis respectively,PB1、PB2…PBiis the coordinate of the end point of the branched chain of the static platform under the moving coordinate system P, u1、u2…uiT represents the transposition as a unit direction vector of the branched motion.
Further, in the closed-loop feedback control system of the parallel robot, the branched chain is driven by a motor, a rope, a hydraulic drive or a pneumatic drive.
The control system has the same principle as the control method, so the control system also has the corresponding technical effect of the control method.
In yet another aspect, the present invention also features a machine-readable storage medium storing machine-executable instructions that, when invoked and executed by a processor, cause the processor to: implementing any of the above method steps.
Since the storage medium stores the method steps implemented in the above-described method embodiments, the storage medium has the technical effects corresponding to the above-described method embodiments.
In the invention, the technical schemes can be combined with each other to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
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The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
Fig. 1 is a flowchart of a closed-loop feedback control method for a parallel robot according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the mechanism of a four-branched-chain-driven parallel robot platform;
FIG. 3 is a schematic diagram of a closed-loop feedback motion control method for a parallel robot;
fig. 4 is a block diagram of a closed-loop feedback control system of a parallel robot according to an embodiment of the present invention.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
The embodiment of the control method comprises the following steps:
the invention discloses a closed-loop feedback control method for a parallel robot. The control method is mainly used for tracking and controlling a certain motion trail by the general parallel robot in the field. The basic idea is as follows: the method comprises the steps of obtaining a linear control model by linearizing a nonlinear kinematics model of the parallel robot, and then carrying out closed-loop feedback control based on the linear control model.
Referring to fig. 1, the method comprises the steps of:
step S1, obtaining the Euler angle of the expected attitude of the parallel robot moving platform
Representing the desired attitude euler angle in turn rotated about the z-y-x axis of the coordinate system.
Specifically, a smooth terminal motion track can be planned for the posture of the parallel robot moving platform, and then a series of track posture points are obtained by interpolating the track; in the method, a trapezoidal velocity planning method can be used for calculating the expected pose of the platform corresponding to each interpolation point, and then calculating three expected Euler angles corresponding to the expected pose
Step S2, obtaining the Euler angle q of the current attitude of the parallel robot moving platformzyx。
Specifically, a three-axis inertial measurement unit and the like can be fixed at the tail end of the parallel robot platform to detect the real-time attitude Euler angle q in the motion process of the robotzyxAs the current attitude euler angle. q. q.szyxRepresenting the current attitude euler angle, in turn rotated about the z-y-x axis of the coordinate system.
Step S3, calculating the Euler angle q of the current posturezyxAnd desired attitude Euler angle
And performing closed-loop control on the parallel robot moving platform by using a linear model according to the difference.
Firstly, establishing an analytic type and linear explicit expression velocity level inverse kinematics equation by differential conversion of a parallel robot inverse kinematics model and combining a linear relation between a space angular velocity and an Euler angular velocity, and then solving the modeling problem of the parallel robot kinematics linear control model by using the equation. The specific process of establishing the linear control model will be described in detail below by taking the four branched chain driven parallel robot platform as an example shown in fig. 2.
1) And establishing a reverse kinematics model aiming at the parallel robot mechanism.
Referring to fig. 2, fig. 2 is a schematic structural diagram of a parallel robot platform driven by four branched chains. As shown, the parallel robot includes: the device comprises a ball joint 1, a movable platform 2, four branched chains 3, a fixed base 4 and a motor 5. Wherein the lengths of the four branched chains 3 are respectively l1、l2、l3And l4The connection points of the four branched chains 3 and the movable platform 2, namely the end points of the branched chains of the movable platform are respectively P1、P2、P3And P4The connection points of the four branched chains 3 and the fixed base 4, namely the end points of the branched chains of the static platform are respectively B1、B2、B3And B4. The Euler angle of the parallel robot around the spherical joint axis z-y-x is q1、q2And q is3。
Setting the coordinate of the end point of the branch chain of the movable platform as Pi(i ═ 1,2,3,4), calm downThe coordinate of the end point of the platform chain is Bi(i-1, 2,3,4) and an euler angle q about the spherical joint axis z-y-xi(i ═ z, y, x), and the length of each branch is li(i is 1,2,3,4) and the unit direction vector of each branch motion is ui(i ═ 1,2,3,4), we get the inverse kinematics equation:
wherein,BRp＝Rx(qx)Ry(qy)Rz(qz)，Rx(qx)、Ry(qy)、Rz(qz) Respectively expressed as attitude matrixes R corresponding to the independent rotation motion of the movable platform around the x axis, the y axis and the z axis of the coordinate system,BBi(i is 1,2,3,4) is the coordinate of the branch end point of the static platform under a base coordinate system,PPiand (i is 1,2,3 and 4) is the coordinate of the branch end point of the movable platform in a movable coordinate system. Referring to FIG. 2, point B is the origin position of the base coordinate system, point P is the origin position of the moving coordinate system on the platform, and the directions of the z-y-x axes of the base coordinate system and the moving coordinate system are shown in the figure. Wherein the point P is the central position of the movable platform, i.e. the straight line P1P3And a straight line P2P4The intersection point of (a).
2) And (5) linearizing the nonlinear kinematic model.
According to the definition of the space angular velocity of the robot, the space angular velocity can be deducedEuler angular velocity q of posturezyxThe relationship of (1):
wherein,
in the form of a differential of the attitude matrix of the mobile platform with respect to the base coordinate system, a matrix of coefficients
Attitude euler angular velocityT denotes the transpose of the image,the derivatives of the euler angles around the x, y and z axes are indicated, respectively.
Differentiating the inverse kinematics equation (1) to obtain the inverse solution of the speed-level kinematics of the parallel robot:
wherein coefficient matrix D [ (), (PB1×u1)T(PB2×u2)T(PB3×u3)T(PB4×u4)T]。
Substituting the euler angle expression (2) of the spatial angular velocity of the robot into the above expression can obtain a velocity level kinematic inverse solution with the euler angular velocity in an explicit form, and the linear expression of the velocity level kinematic inverse solution is as follows:
wherein,
the D and H are coefficient matrixes of the parallel robot mechanism configuration.
3) And establishing a linear control model based on the attitude feedback of the moving platform.
The closed-loop feedback motion control method of the parallel robot is shown in fig. 3. Euler angle according to expected attitude of parallel robot moving platform
And the measured Euler angle q of the current attitudezyxDetermining Euler angle error of parallel robot motion
Then selects the control error ezyxThe convergence coefficient lambda is set so that the convergence coefficient lambda approaches zero in the form of exponential convergence
The linear differential motion model is substituted into a linear differential motion model corresponding to the parallel robot, and the control rate can be obtained:
Therefore, the derivation process of the closed-loop feedback control method of the parallel robot kinematics linear model is realized.
In the above description of the present invention taking four branches as an example, when the number of branches is changed, in the formula (5), other parameters need not be changed as long as the coefficient matrix D is changed accordingly. For example, when there are three branches, the coefficient matrix D in equation (5) is:
D＝[(PB1×u1)T(PB2×u2)T(PB3×u3)T]the coefficient matrix H is unchanged.
When there are five branches, the coefficient matrix D in equation (5) is:
D＝[(PB1×u1)T(PB2×u2)T(PB3×u3)T(PB4×u4)T(PB5×u5)T]coefficient matrix H isAnd (6) changing.
In specific implementation, the driving manner of the branched chain may be motor driving, rope driving, hydraulic driving, pneumatic driving, etc., and the specific driving manner of the branched chain is not limited in this embodiment.
It should be noted that, in a specific implementation, the sequence of step S1 and step S2 in the embodiment of the present invention is adjustable, and the embodiment does not set any limitation on the sequence of step S1 and step S2.
The embodiment of the invention provides a closed-loop control method of a parallel robot derived from a kinematic differential model, which comprises the steps of linearizing a nonlinear kinematic model of the parallel robot to obtain a linear control model, and then realizing closed-loop feedback control based on a Cartesian space on the parallel robot based on the linear control model. Compared with the nonlinear control mode in the prior art, the embodiment of the invention not only greatly improves the control precision, but also has better robustness.
The control system comprises:
referring to fig. 4, fig. 4 is a block diagram of a closed-loop feedback control system of a parallel robot according to an embodiment of the present invention. As shown, the system includes:
a first obtaining module 401, configured to obtain an euler angle of an expected pose of the parallel robot moving platform
A second obtaining module 402, configured to obtain the euler angle q of the current pose of the parallel robot moving platformzyx。
A calculating module 403, configured to calculate the euler angle q of the current posturezyxAnd the desired attitude Euler angle
And performing closed-loop control on the parallel robot moving platform by using a linear model according to the difference value.
Further, in the above embodiment, the linear control model in the calculating module 403 is:
in the above formula, the first and second carbon atoms are,the linear motion speed of the branched chain is shown, lambda is a control error convergence coefficient, and D.H is a coefficient matrix of the parallel robot mechanism configuration.
Further, in the above embodiment, in the calculating module 403, D, H of the linear control model is:
D＝[(PB1×u1)T(PB2×u2)T……(PBi×ui)T]
in the above formula, i is the number of branched chains; q. q.syQx are the euler angles of rotation about the y-axis and x-axis respectively,PB1、PB2…PBiis the coordinate of the end point of the branched chain of the static platform under the moving coordinate system P, u1、u2…uiT represents the transposition for the unit direction vector of the movement of each branch.
The specific implementation process of this embodiment may refer to the above method embodiments, and this embodiment is not described herein again.
The embodiment of the invention provides a closed-loop control method of a parallel robot derived from a kinematic differential model, which comprises the steps of linearizing a nonlinear kinematic model of the parallel robot to obtain a linear control model, and then realizing closed-loop feedback control based on a Cartesian space on the parallel robot based on the linear control model. Compared with the nonlinear control mode in the prior art, the embodiment of the invention not only greatly improves the control precision, but also has better robustness.
Storage medium embodiments:
an embodiment of the present invention provides a machine-readable storage medium storing machine-executable instructions that, when invoked and executed by a processor, cause the processor to: implementing any of the method steps in the above method embodiments. The specific implementation process of the storage medium may refer to the above method embodiments, and details are not described herein again.
Since the storage medium stores the method steps implemented in the above-described method embodiments, the storage medium has the technical effects corresponding to the above-described method embodiments.
Since the control method and the control system according to the present invention are the same in principle as the storage medium, the relevant points can be referred to each other.
Those skilled in the art will appreciate that all or part of the flow of the method implementing the above embodiments may be implemented by a computer program, which is stored in a computer readable storage medium, to instruct related hardware. The computer readable storage medium is a magnetic disk, an optical disk, a read-only memory or a random access memory.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (8)
1. A closed-loop feedback control method for a parallel robot is characterized by comprising the following steps:
obtaining Euler angle of expected attitude of parallel robot moving platform
Obtaining Euler angle q of current attitude of parallel robot moving platformzyx；
Calculating the Euler angle q of the current attitudezyxAnd the desired attitude Euler angle
Difference between them, according toPerforming closed-loop control on the parallel robot movable platform by using a linear control model according to the difference value;
the linear control model is as follows:
in the above formula, the first and second carbon atoms are,
the linear motion speed of the branched chain is shown, lambda is a control error convergence coefficient, and D.H is a coefficient matrix of the parallel robot mechanism configuration.
2. The parallel robot closed-loop feedback control method of claim 1, wherein D, H in the linear control model are respectively:
D＝[(PB1×u1)T(PB2×u2)T……(PBi×ui)T]
in the above formula, i is the number of branched chains; q. q.sy、qxEuler angles of rotation about the y-axis and x-axis respectively,PB1、PB2…PBiis the coordinate, u, of each static platform branch chain endpoint under the moving coordinate system P1、u2…uiT represents the transposition for the unit direction vector of the movement of each branch.
3. The parallel robot closed-loop feedback control method of claim 2, wherein the number of branches is 3,4, or 5.
4. The closed-loop feedback control method for the parallel robot according to any one of claims 1 to 3, wherein the branched chain is driven by a motor, a rope, a hydraulic or a pneumatic.
5. A parallel robot closed loop feedback control system, comprising:
a first acquisition module for acquiring the Euler angle of the expected attitude of the parallel robot moving platform
A second acquisition module for acquiring the Euler angle q of the current attitude of the parallel robot moving platformzyx；
A calculation module for calculating the Euler angle q of the current attitudezyxAnd the desired attitude Euler angle
The difference value is obtained, and the parallel robot moving platform is subjected to closed-loop control by utilizing a linear control model according to the difference value;
the linear control model in the calculation module is as follows:
in the above formula, the first and second carbon atoms are,
the linear motion speed of the branched chain is shown, lambda is a control error convergence coefficient, and D.H is a coefficient matrix of the parallel robot mechanism configuration.
6. The parallel robot closed-loop feedback control system of claim 5, wherein D, H of the linear control model in the calculation module are respectively:
D＝[(PB1×u1)T(PB2×u2)T……(PBi×ui)T]
in the above formula, i is the number of branched chains; q. q.sy、qxEuler angles of rotation about the y-axis and x-axis respectively,PB1、PB2…PBiis the coordinate, u, of each static platform branch chain endpoint under the moving coordinate system P1、u2…uiT represents the transposition for the unit direction vector of the movement of each branch.
7. The closed-loop feedback control system of parallel robot as claimed in claim 6, wherein the branched chain is driven by motor, rope, hydraulic or pneumatic.
8. A machine-readable storage medium having stored thereon machine-executable instructions that, when invoked and executed by a processor, cause the processor to: carrying out the method steps of any one of claims 1 to 4.
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