CN110142762A - A kind of joint of robot position control method, device and robot - Google Patents
A kind of joint of robot position control method, device and robot Download PDFInfo
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- CN110142762A CN110142762A CN201910390134.1A CN201910390134A CN110142762A CN 110142762 A CN110142762 A CN 110142762A CN 201910390134 A CN201910390134 A CN 201910390134A CN 110142762 A CN110142762 A CN 110142762A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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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
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
-
- 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
-
- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
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- Orthopedic Medicine & Surgery (AREA)
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Abstract
The present invention relates to joint of robot control technology fields, a kind of joint of robot position control method, device and robot are provided, its method includes: to obtain current power measured value, current power reference value, current interpolation position auto―control and current servo control parameter respectively when joint of robot moves to current pose point along preset reference track；Desired SERVO CONTROL amount is calculated according to current power measured value, current power reference value, current interpolation position auto―control and current servo control parameter；Expected pose point is moved to from current pose point according to desired servo control quality management joint of robot, by current power measured value and current power with reference to the calculating parameter as desired SERVO CONTROL amount, it is able to ascend the accuracy of desired SERVO CONTROL amount, to promote the accuracy of control joint of robot movement expectation SERVO CONTROL amount, it realizes and current pose point is corrected with expected pose point, overcome during joint of robot changes position according to motion profile and be easy to appear deviation.
Description
Technical field
The present invention relates to joint of robot control technology field more particularly to a kind of joint of robot position control method,
Device and robot.
Background technique
With robotics development, robot has been widely used for many work pieces process such as polishing, polishing and cleaning,
In order to improve workpiece processing quality and lower robot using difficulty, robot self-adapting flexible controls joint of robot pose,
Machining tool is driven to change position by joint of robot, so that machining tool Flexible Manufacture workpiece is to raising workpiece processing quality
It is most important using difficulty with robot is reduced.
In the related technology, joint of robot pose self-adaptation control method are as follows: 3D camera acquires workpiece point cloud chart picture, machine
People based on workpiece three-dimensional point cloud image programming movement track, based on by motion profile path point solve SERVO CONTROL amount and
Joint of robot motion servo control amount is controlled, realizes that joint of robot changes position according to motion profile.
But during joint of robot changes position according to motion profile, joint of robot, which will receive, to be secured to
The effect of the power such as pressure, the gravity that the machining tool of connection applies, leads to joint of robot appearance position deviation, to reduce work
Part processing quality uses difficulty with robot is improved.
Summary of the invention
The technical problem to be solved by the present invention is to change position according to motion profile for joint of robot in the prior art
It is easy to appear the deficiency of position deviation during setting, a kind of joint of robot position control method, device and robot are provided.
The technical scheme to solve the above technical problems is that
According to the present invention in a first aspect, providing a kind of joint of robot position control method, comprising:
When joint of robot moves to current pose point along preset reference track, the joint of robot is obtained respectively
Current power measured value, current power reference value, current interpolation position auto―control and current servo control at the current pose point
Parameter；
According to the current power measured value, the current power reference value, the current interpolation position auto―control and described current
SERVO CONTROL parameter calculates desired SERVO CONTROL amount；
Desired position is moved to from the current pose point according to joint of robot described in the expectation servo control quality management
Appearance point.
Second aspect according to the present invention provides a kind of joint of robot position control, comprising:
Module is obtained, for being obtained respectively when joint of robot moves to current pose point along preset reference track
Current power measured value of the joint of robot at the current pose point, current power reference value, current interpolation position auto―control
With current servo control parameter；
Computing module, for according to the current power measured value, the current power reference value, the current interpolation pose square
Battle array and the current servo control parameter calculate desired SERVO CONTROL amount；
Control module is used for the joint of robot according to the expectation servo control quality management from the current pose point
Move to expected pose point.
The third aspect according to the present invention provides a kind of robot, comprising:
Power processor, for being obtained respectively when joint of robot moves to current pose point along preset reference track
Current power measured value of the joint of robot at the current pose point, current power reference value, current interpolation position auto―control
With current servo control parameter；According to the current power measured value, the current power reference value, the current interpolation position auto―control
Desired SERVO CONTROL amount is calculated with the current servo control parameter；
Joint of robot servo controller is used for the joint of robot according to the expectation servo control quality management from institute
It states current pose point and moves to expected pose point.
The beneficial effect of joint of robot position control method provided by the invention, device and robot is: by current power
Measured value, current power reference value, current interpolation position auto―control and current servo control parameter are calculated collectively as calculating parameter
It is expected that SERVO CONTROL amount, ensure that the accuracy of desired SERVO CONTROL amount, help accurately to control joint of robot from present bit
Appearance point movement expectation SERVO CONTROL amount, realizes that driving joint of robot is corrected to expected pose point from current pose point, in machine
During person joint changes position according to motion profile, it can reduce because power effect causes joint of robot appearance position deviation,
Joint of robot can either be improved and change the accuracy of position according to motion profile, and help to improve workpiece processing quality and drop
Low robot uses difficulty, is suitable for processing different types of workpiece.
Detailed description of the invention
Fig. 1 is a kind of flow diagram of joint of robot position control method provided in an embodiment of the present invention；
Fig. 2 a moves to current pose point along preset reference track in joint of robot to be provided in an embodiment of the present invention
The schematic diagram of fluctuation in the process；
Fig. 2 b is provided in an embodiment of the present invention after joint of robot is corrected to expected pose point from current pose point
The schematic diagram of fluctuation；
Fig. 3 a is a kind of structural schematic diagram of joint of robot position control provided in an embodiment of the present invention；
Fig. 3 b is the structural schematic diagram of another joint of robot position control provided in an embodiment of the present invention；
Fig. 3 c is the structural schematic diagram of another joint of robot position control provided in an embodiment of the present invention；
Fig. 4 a is the structural schematic diagram of robot provided in an embodiment of the present invention；
Fig. 4 b is the circuit diagram corresponding to the robot in Fig. 3 a.
Specific embodiment
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the invention.
Embodiment one
As shown in Figure 1, a kind of flow diagram that joint of robot position control method is set of the embodiment of the present invention, the party
Method includes: to obtain joint of robot respectively when joint of robot moves to current pose point along preset reference track and working as
Current power measured value, current power reference value, current interpolation position auto―control and current servo control parameter at preceding pose point；According to
Current power measured value, current power reference value, current interpolation position auto―control and current servo control parameter calculate desired servo control
Amount processed；Expected pose point is moved to from current pose point according to desired servo control quality management joint of robot.
In some specific examples, current power reference value pre-deposits power processor, when joint of robot moves to currently
When pose point, force snesor acquires current power measured value；Joint of robot encoder acquires the angular displacement of current pose point, is based on
Forward kinematics equation diagonal displacement is solved, and current posture information is obtained；Power processor obtains force snesor input respectively
The current posture information of current power measured value and the input of joint of robot encoder, and in the matrix form deposit current posture information
Storage is the current servo control parameter in a position auto―control and read machine person joint's servo controller.
Power processor, which controls current power measured value, current power reference value, current interpolation position auto―control and current servo, joins
Number calculates desired SERVO CONTROL amount collectively as calculating parameter, ensure that the accuracy of desired SERVO CONTROL amount, it would be desirable to watch
Control amount input joint of robot servo controller is taken, robot can accurately be controlled by joint of robot servo controller and closed
Section moves expectation SERVO CONTROL amount from current pose point, realizes that driving joint of robot is corrected to expected pose from current pose point
Point reduces during joint of robot changes position according to motion profile because power effect causes joint of robot position inclined
Difference can either improve joint of robot and change the accuracy of position according to motion profile, and help to improve workpiece processing quality
Difficulty is used with robot is reduced.
As optional embodiment, current interpolation position auto―control is obtained, specifically includes: joint of robot being moved to and is worked as
It is determined as the current kinetic moment at the time of preceding pose point；It is searched from preset reference track corresponding with the current kinetic moment current
Position auto―control is referred to reference to position auto―control and the latter adjacent with current reference position auto―control；It is determined from the setting period
The latter movement moment after the current kinetic moment, and determine the centre between current kinetic moment and latter movement moment
Moment；Calculate intermediate time and the time difference between the current kinetic moment；Based on linear interpolation model to current reference pose square
Battle array, the latter are linearly calculated with reference to position auto―control, the duration of setting period and time difference, obtain current interpolation pose square
Battle array.
Setting the period is indicated using current kinetic moment and latter movement moment as parameter, and to indicate joint of robot
The period for the latter pose point that the latter is shown with reference to pose matrix table is moved to from current pose point.
In some specific examples, before joint of robot drives machining tool machining tool, pass through joint of robot
Encoder detection joint of robot moves to the duration of latter pose point from current pose point；In joint of robot from current pose
Point moves in expected pose point process, and power processor solves the latter movement moment according to the duration and current kinetic moment are counter,
It as end time indicates by initial time of the current kinetic moment and using the latter movement moment to set the period, from the setting period
The intermediate time for approaching the current kinetic moment can be selected, such as: the current kinetic moment be " 2018-04-2918:31:38:
41 ", intermediate time is " 2018-04-2918:31:39:100 " and the latter movement moment is " 2018-04-2918:31:40 ".
As optional embodiment, preset reference track is indicated with pose point sequence, pose point sequence specifically:
T={ T (t1) T(t2) T(t3) ..... T(ti+1)}
Wherein, T (ti+1) indicate to move reference position auto―control corresponding to the moment with i+1 in pose point sequence T.
Linear interpolation model specifically:
Wherein, tnIndicate current kinetic moment, tn+1It indicates with current kinetic moment tnFor the latter movement moment of starting point, tm
It indicates with current kinetic moment tnFor the intermediate time of starting point, T (tm) indicate and intermediate time tmCorresponding current interpolation pose
Matrix, T (tn) indicate and current kinetic moment tnCorresponding current reference position auto―control, T (tn+1) when indicating with latter movement
Carve tn+1Corresponding the latter refers to position auto―control, 1 < n < i.
Based on the current kinetic moment can quickly be determined from preset reference track adjacent current reference position auto―control and
The latter refers to position auto―control, intermediate time can be quickly determined in the setting period based on the current kinetic moment, by linear
Interpolation model can quickly calculate current reference position auto―control, the latter with reference to position auto―control, the duration of setting period with timely
Between it is poor, current interpolation position auto―control can be calculated in a simple manner, can take into account current interpolation position auto―control computational efficiency and
Accuracy.
As optional embodiment, according to current power measured value, current power reference value, current interpolation position auto―control and work as
Preceding SERVO CONTROL parameter calculates desired SERVO CONTROL amount, specifically includes: being carried out based on power estimation model to current power measured value
Estimation, obtains power estimated value；Force compensating amount is calculated based on power estimated value and current power reference value；It is based on force compensating amount and currently slotting
It mends position auto―control and calculates expected pose matrix；Expected pose matrix is solved using inverse dynamics model, expectation is obtained and watches
Take control parameter；Expectation SERVO CONTROL amount is calculated based on desired SERVO CONTROL parameter and current servo control parameter.
As shown in Fig. 2 a and Fig. 2 b, it is based on current kinetic moment ti+1Two-dimensional coordinate system is established with power F, as shown in Figure 2 a,
Robot moves in current pose point process along preset reference track, power measured value FMbCompared to power reference value FrefWave
It moves larger；As shown in Figure 2 b, after joint of robot is corrected to expected pose point from current pose point, power side magnitude FMaCompared to
Power reference value FrefFluctuation it is smaller, it may be assumed that reduce joint of robot well and correct to the fluctuation range of expected pose point,
Stability of the joint of robot at expected pose point is improved, to overcome because power effect causes joint of robot position occur
The problem of setting deviation.
As optional embodiment, power estimates model specifically:
Wherein,Indicate the power estimated value in the reference frame a of contact point,It indicates from contact point reference frame
A is transformed into the rotational transformation matrix in power measurement reference frame b,It indicates to exist with the origin of contact point reference frame a
Skew-symmetric operator corresponding to the coordinate of power measurement reference frame b, 03×3Indicate the null matrix of 3 rows 3 column,It indicates from contact
Point reference frame a is transformed into the current power measured value in power measurement reference frame b,Expression is connect with joint of robot
Tool coordinate of the center of gravity o in the reference frame a of contact point,Indicate center of gravity o in power measurement reference frame b
Coordinate corresponding to skew-symmetric operator,Indicate the coordinate with center of gravity o in power measurement reference frame b,Indicate weight
Heart o changes current power measured value in power measurement reference frame bChange value.
During joint of robot drives machining tool machining tool, made with any point that machining tool is contacted with workpiece
For contact point, enables the contact point as the first origin in the first three-dimensional system of coordinate, enable the first three-dimensional system of coordinate for contact point ginseng
Coordinate system a is examined, reference frame b, rotational transformation matrix are measured based on six-dimension force sensor building powerContact point can be provided
Rotation transformation relationship between axis and power measurement the reference frame b of reference frame a, such as: enable six-dimension force sensor
Center of gravity constructs the second three-dimensional system of coordinate as the second origin, and enabling the second three-dimensional system of coordinate is that power measures reference frame b.
In some specific examples, current power measured value includes sextuple force value, such as: sextuple force value indicates in the matrix form
For2N indicates that six-dimension force sensor is measured in power with reference to seat
The pressure along X-axis forward direction is incuded in mark system b, 5N indicates to incude edge in power measurement reference frame b in six-dimension force sensor
The pressure of Y-axis forward direction, 18N indicate six-dimension force sensor power measurement reference frame b in induction along Z axis forward direction pressure
Power, 1.2Nm indicate to incude the torque along X-axis forward direction, 2.3Nm table in power measurement reference frame b in six-dimension force sensor
Show that induction is along the torque of Y-axis forward direction in power measurement reference frame b in six-dimension force sensor, 0.6Nm expression is in six-dimensional force
Sensor incudes the torque along Z axis forward direction in power measurement reference frame b.
Power estimation model is used to quickly and accurately estimate current power measured value, to improve the estimation of expectation SERVO CONTROL amount
Efficiency and accuracy.
As optional embodiment, force compensating amount is calculated based on power estimated value and current power reference value, is specifically included: meter
Calculate the power deviation between power estimated value and current power reference value；Power departure is counted using incremental timestamp model
It calculates, obtains force compensating amount.
Incremental timestamp model specifically:
Wherein, u (tm) indicate intermediate time tmCorresponding force compensating amount, kpIndicate proportionality coefficient, kiIndicate integration system
Number, kdIndicate differential coefficient, e (tm) indicate intermediate time tmCorresponding power deviation, dtmIndicate intermediate time tmIncrement,
de(tm)/dtmIndicate power deviation e (tm) to intermediate time tmThe differential quotient that derivation obtains.
Power deviation e (tm) specifically:Wherein, ωrefIndicate current power reference value, such as: when
Preceding power reference value is 20N.
Through incremental timestamp model in such a way that current power reference value compensates current power measured value, realize accurate
Force compensating amount is calculated, good closed-loop control joint of robot is may advantageously facilitate from current pose point and is corrected to expected pose point
Performance, malfunction influence is small, helps to improve the stability of control joint of robot movement.
As optional embodiment, expected pose matrix, tool are calculated based on force compensating amount and current interpolation position auto―control
Body includes: to determine translation transition matrix based on force compensating amount；Using pose transformation model to translation transition matrix and current interpolation
Position auto―control is multiplied, and obtains expected pose matrix.
Pose transformation model specifically: T (tm)×H(u(tm)), wherein H (u (tm)) indicate that edge puts forth effort to measure reference coordinate
It is a dimension translational force compensation rate u (t in bm) after obtained translation transition matrix, such as: translation transition matrix is along putting forth effort
Measure the Z axis translational force compensation rate u (t in reference frame bm)。
The translation of current interpolation position auto―control quickly can be converted into expected pose matrix by pose transformation model, helped
In the computational efficiency for improving expected pose matrix.
As optional embodiment, expectation servo is calculated based on desired SERVO CONTROL parameter and current servo control parameter
Control amount specifically includes: calculating the SERVO CONTROL parameter error between expectation SERVO CONTROL parameter and current servo control parameter
Value；SERVO CONTROL parameter error value is calculated using PI Controlling model, obtains expectation SERVO CONTROL amount.
PI Controlling model specifically:Wherein, q (tm) in expression
Between moment tmCorresponding expectation SERVO CONTROL amount, Δ q (tm) indicate intermediate time tmCorresponding SERVO CONTROL parameter error
Value, Δ q (tm)/dtmIndicate SERVO CONTROL parameter error value Δ q (tm) to intermediate time tmThe differential quotient that derivation obtains.
SERVO CONTROL parameter error value Δ q (tm) specifically: e (tm)=qref-qactual, wherein qrefIndicate current servo
Control parameter, qactualIndicate expectation SERVO CONTROL parameter, expected pose parameter includes the relevant parameter of angular displacement.
Compared to PID control model, PI Controlling model is simpler, after calculating SERVO CONTROL parameter error value,
In such a way that PI Controlling model calculates SERVO CONTROL parameter error value, facilitate the calculating side for simplifying expectation SERVO CONTROL amount
Formula improves the control efficiency that robot is corrected to expected pose point from current pose point.
Embodiment two
As shown in Figure 3a, the structural schematic diagram of a kind of joint of robot position control of the embodiment of the present invention, comprising:
Obtain module, computing module and control module.
Module is obtained, for being obtained respectively when joint of robot moves to current pose point along preset reference track
It current power measured value of the joint of robot at current pose point, current power reference value, current interpolation position auto―control and currently watches
Take control parameter.
Computing module, for according to current power measured value, current power reference value, current interpolation position auto―control and current servo
Control parameter calculates desired SERVO CONTROL amount.
Control module, for moving to desired position from current pose point according to desired servo control quality management joint of robot
Appearance point.
As optional embodiment, as shown in Figure 3b, obtaining module includes: power acquisition submodule, position auto―control acquisition
Submodule and servo parameter acquisition submodule.
Power acquisition submodule, for reading current power reference value respectively and being measured by the current power that force snesor detects
Value.
Position auto―control acquisition submodule is determined as currently transporting at the time of for joint of robot to be moved to current pose point
The dynamic moment；Current reference position auto―control corresponding with the current kinetic moment and and current reference are searched from preset reference track
The adjacent the latter of position auto―control refers to position auto―control；The latter movement after the current kinetic moment is determined from the setting period
Moment, and determine the intermediate time between current kinetic moment and latter movement moment；Calculate intermediate time and current fortune
Time difference between the dynamic moment；Based on linear interpolation model to current reference position auto―control, the latter with reference to position auto―control, setting
The duration of period and time difference are linearly calculated, and current interpolation position auto―control is obtained.
Servo parameter acquisition submodule, the current servo for the input of read machine person joint's servo controller control ginseng
Number.
Preset reference track indicates with pose point sequence, pose point sequence specifically:
T={ T (t1) T(t2) T(t3) ..... T(ti+1)}
Wherein, T (ti+1) indicate to move reference position auto―control corresponding to the moment with i+1 in pose point sequence T.
Linear interpolation model specifically:
Wherein, tnIndicate current kinetic moment, tn+1It indicates with current kinetic moment tnFor the latter movement moment of starting point, tm
It indicates with current kinetic moment tnFor the intermediate time of starting point, T (tm) indicate and intermediate time tmCorresponding current interpolation pose
Matrix, T (tn) indicate and current kinetic moment tnCorresponding current reference position auto―control, T (tn+1) when indicating with latter movement
Carve tn+1Corresponding the latter refers to position auto―control, 1 < n < i.
As optional embodiment, as shown in Figure 3c, computing module includes: power estimation submodule, for being estimated based on power
Meter model estimates current power measured value, obtains power estimated value；Force compensating submodule, for based on power estimated value and currently
Power reference value calculates force compensating amount；First matrix computational submodule, by based on force compensating amount and current interpolation position auto―control
Calculate expected pose matrix；Second matrix computational submodule, for being solved using inverse dynamics model to expected pose matrix,
Obtain expectation SERVO CONTROL parameter；Servo parameter computational submodule, for being based on desired SERVO CONTROL parameter and current servo control
Parameter processed calculates expectation SERVO CONTROL amount.
Power estimates model specifically:
Wherein,Indicate the power estimated value in the reference frame a of contact point,It indicates from contact point reference frame
A is transformed into the rotational transformation matrix in power measurement reference frame b,It indicates to exist with the origin of contact point reference frame a
Skew-symmetric operator corresponding to the coordinate of power measurement reference frame b, 03×3Indicate the null matrix of 3 rows 3 column,It indicates from contact
Point reference frame a is transformed into the current power measured value in power measurement reference frame b,Expression is connect with joint of robot
Tool coordinate of the center of gravity o in the reference frame a of contact point,Indicate center of gravity o in power measurement reference frame b
Coordinate corresponding to skew-symmetric operator,Indicate the coordinate with center of gravity o in power measurement reference frame b,Indicate center of gravity
O changes current power measured value in power measurement reference frame bChange value.
As optional embodiment, force compensating submodule is specifically used for: calculate power estimated value and current power reference value it
Between power deviation；Power departure is calculated using incremental timestamp model, obtains force compensating amount.
Incremental timestamp model specifically:
Wherein, u (tm) indicate intermediate time tmCorresponding force compensating amount, kpIndicate proportionality coefficient, kiIndicate integration system
Number, kdIndicate differential coefficient, e (tm) indicate intermediate time tmCorresponding power deviation, dtmIndicate intermediate time tmIncrement,
de(tm)/dtmIndicate power deviation e (tm) to intermediate time tmThe differential quotient that derivation obtains.
Power deviation e (tm) specifically:Wherein, ωrefIndicate current power reference value.
As optional embodiment, the first matrix computational submodule is specifically used for: determining that translation turns based on force compensating amount
Change matrix；It is multiplied to translation transition matrix with current interpolation position auto―control using pose transformation model, obtains expected pose
Matrix.
Pose transformation model specifically: T (tm)×H(u(tm)), wherein H (u (tm)) indicate that edge puts forth effort to measure reference coordinate
It is a dimension translational force compensation rate u (t in bm) after obtained translation transition matrix.
As optional embodiment, servo parameter computational submodule is specifically used for: calculate expectation SERVO CONTROL parameter with
SERVO CONTROL parameter error value between current servo control parameter；Using PI Controlling model to SERVO CONTROL parameter error value into
Row calculates, and obtains expectation SERVO CONTROL amount.
PI Controlling model specifically:Wherein, q (tm) in expression
Between moment tmCorresponding expectation SERVO CONTROL amount, Δ q (tm) indicate intermediate time tmCorresponding SERVO CONTROL parameter error
Value, Δ q (tm)/dtmIndicate SERVO CONTROL parameter error value Δ q (tm) to intermediate time tmThe differential quotient that derivation obtains.
SERVO CONTROL parameter error value Δ q (tm) specifically: e (tm)=qref-qactual, wherein qrefIndicate current servo
Control parameter, qactualIndicate expectation SERVO CONTROL parameter.
Embodiment three
The embodiment of the present invention provides a kind of robot, as shown in fig. 4 a, robot include AGV trolley 1, joint of robot 2,
Six-dimension force sensor 3 and rubbing down tool 4, joint of robot 2 are located on AGV trolley 1, and six-dimension force sensor 3 is mounted on robot
Joint 2, rubbing down tool 4 are mounted on six-dimension force sensor 3.
As shown in Figure 4 b, AGV trolley 1 includes power processor, joint of robot encoder and joint of robot SERVO CONTROL
Device, power processor are communicated to connect with joint of robot encoder, joint of robot servo controller and six-dimension force sensor respectively.
Power processor, for being obtained respectively when joint of robot moves to current pose point along preset reference track
It current power measured value of the joint of robot at current pose point, current power reference value, current interpolation position auto―control and currently watches
Take control parameter；According to current power measured value, current power reference value, current interpolation position auto―control and current servo control parameter meter
Calculate expectation SERVO CONTROL amount.
Joint of robot servo controller, for controlling joint of robot movement expectation SERVO CONTROL amount, so that robot
Joint moves to expected pose point from current pose point.
Power processor, is specifically used for: when being determined as current kinetic at the time of joint of robot is moved to current pose point
It carves；Searched from preset reference track corresponding with current kinetic moment current reference position auto―control and with current reference pose
The adjacent the latter of matrix refers to position auto―control；It determines from the setting period in the latter movement after the current kinetic moment
It carves, and determines the intermediate time between current kinetic moment and latter movement moment；Calculate intermediate time and current kinetic
Time difference between moment；When referring to position auto―control, setting to current reference position auto―control, the latter based on linear interpolation model
The duration and time difference of section are linearly calculated, and current interpolation position auto―control is obtained.
Power processor, is specifically also used to: being estimated based on power estimation model current power measured value, obtains power estimation
Value；Force compensating amount is calculated based on power estimated value and current power reference value；It is calculated based on force compensating amount and current interpolation position auto―control
Expected pose matrix；Expected pose matrix is solved using inverse dynamics model, obtains expectation SERVO CONTROL parameter；It is based on
It is expected that SERVO CONTROL parameter and current servo control parameter calculate expectation SERVO CONTROL amount.
Power processor, is specifically also used to: calculating the power deviation between power estimated value and current power reference value；Using increment
Formula PID control model calculates power departure, obtains force compensating amount；Translation transition matrix is determined based on force compensating amount；It answers
It is multiplied to translation transition matrix with current interpolation position auto―control with pose transformation model, obtains expected pose matrix；Using
Inverse dynamics model solves expected pose matrix, obtains expectation SERVO CONTROL parameter；Calculate expectation SERVO CONTROL parameter
SERVO CONTROL parameter error value between current servo control parameter；Using PI Controlling model to SERVO CONTROL parameter error value
It is calculated, obtains expectation SERVO CONTROL amount.
It should be pointed out that the present embodiment three in power estimation model, incremental timestamp model, pose transformation model,
The model tormulations mode such as inverse dynamics model and PI Controlling model is the same as example 1, no longer superfluous herein for Compact representations
It states.
Reader should be understood that in the description of this specification, reference term " aspect ", " optional embodiment " or " some
The description of specific example " etc. means that specific features, step or feature described in conjunction with this embodiment or example are contained in this hair
In at least one bright embodiment or example, term " first " and " second " etc. are used for description purposes only, and should not be understood as referring to
Show or imply relative importance or implicitly indicates the quantity of indicated technical characteristic." first " and " are defined as a result,
Two " etc. feature can explicitly or implicitly include at least one of the features.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of joint of robot position control method characterized by comprising
When joint of robot moves to current pose point along preset reference track, the joint of robot is obtained respectively in institute
State current power measured value, current power reference value, current interpolation position auto―control and the current servo control parameter at current pose point；
According to the current power measured value, the current power reference value, the current interpolation position auto―control and the current servo
Control parameter calculates desired SERVO CONTROL amount；
Expected pose point is moved to from the current pose point according to joint of robot described in the expectation servo control quality management.
2. joint of robot position control method according to claim 1, which is characterized in that obtain the current interpolation position
Appearance matrix, specifically includes:
It is determined as the current kinetic moment at the time of joint of robot is moved to the current pose point；
Searched from the preset reference track corresponding with current kinetic moment current reference position auto―control and with institute
The adjacent the latter of current reference position auto―control is stated with reference to position auto―control；
The latter movement moment after the current kinetic moment is determined from the setting period, and is determined in the current fortune
Intermediate time between dynamic moment and the latter movement moment, wherein the setting period is with the current kinetic moment
It is parameter expression with the latter movement moment, and to indicate that the joint of robot moves to institute from the current pose point
State the period for the latter pose point that the latter is shown with reference to pose matrix table；
Calculate the time difference between the intermediate time and the current kinetic moment；
When referring to position auto―control, the setting to the current reference position auto―control, described the latter based on linear interpolation model
The duration and the time difference of section are linearly calculated, and the current interpolation position auto―control is obtained.
3. joint of robot position control method according to claim 2, which is characterized in that the preset reference track with
The expression of pose point sequence, the pose point sequence specifically:
T={ T (t1) T(t2) T(t3).....T(ti+1)}
Wherein, T (ti+1) indicate to move reference position auto―control corresponding to the moment with i+1 in the pose point sequence T；
The linear interpolation model specifically:
Wherein, tnIndicate the current kinetic moment, tn+1It indicates with the current kinetic moment tnFor the latter fortune of starting point
Dynamic moment, tmIt indicates with the current kinetic moment tnFor the intermediate time of starting point, T (tm) indicate and the intermediate time
tmThe corresponding current interpolation position auto―control, T (tn) indicate and the current kinetic moment tnThe corresponding current ginseng
Examine position auto―control, T (tn+1) indicate and the latter movement moment tn+1Corresponding described the latter refers to position auto―control, 1 < n
< i.
4. joint of robot position control method according to claim 3, which is characterized in that measured according to the current power
Value, the current power reference value, the current interpolation position auto―control and the current servo control parameter calculate desired servo
Control amount specifically includes:
The current power measured value is estimated based on power estimation model, obtains power estimated value；
Force compensating amount is calculated based on the power estimated value and the current power reference value；
Expected pose matrix is calculated based on the force compensating amount and the current interpolation position auto―control；
The expected pose matrix is solved using inverse dynamics model, obtains expectation SERVO CONTROL parameter；
The expectation SERVO CONTROL amount is calculated based on the expectation SERVO CONTROL parameter and the current servo control parameter.
5. joint of robot position control method according to claim 4, which is characterized in that the power estimation model is specific
Are as follows:
Wherein,Indicate the power estimated value in the reference frame a of contact point,It indicates from the contact point with reference to seat
Mark system a is transformed into the rotational transformation matrix in power measurement reference frame b,It indicates and the contact point reference frame a
Origin the power measurement reference frame b coordinate corresponding to skew-symmetric operator, 03×3Indicate the null matrix of 3 rows 3 column,Indicate the current power measurement being transformed into the power measurement reference frame b from the contact point reference frame a
Value,Indicate coordinate of the center of gravity o for the tool connecting with the joint of robot in the contact point reference frame a,Indicate center of gravity o skew-symmetric operator corresponding to the coordinate in power measurement reference frame b,Indicate with
Coordinate of the center of gravity o in power measurement reference frame b,Indicate that the center of gravity o measures reference coordinate in the power
It is to change the current power measured value in bChange value.
6. joint of robot position control method according to claim 4 or 5, which is characterized in that estimated based on the power
Value and the current power reference value calculate force compensating amount, specifically include:
Calculate the power deviation between the power estimated value and the current power reference value；
The power departure is calculated using incremental timestamp model, obtains the force compensating amount；
The incremental timestamp model specifically:
Wherein, u (tm) indicate the intermediate time tmThe corresponding force compensating amount, kpIndicate proportionality coefficient, kiIndicate integral
Coefficient, kdIndicate differential coefficient, e (tm) indicate the intermediate time tmThe corresponding power deviation, dtmIn indicating described
Between moment tmIncrement, de (tm)/dtmIndicate the power deviation e (tm) to the intermediate time tmThe differential quotient that derivation obtains；
The power deviation e (tm) specifically:
Wherein, ωrefIndicate the current power reference value.
7. joint of robot position control method according to claim 4 or 5, which is characterized in that be based on the force compensating
Amount and the current interpolation position auto―control calculate expected pose matrix, specifically include:
Translation transition matrix is determined based on the force compensating amount；
It is multiplied, obtains described with the current interpolation position auto―control to the translation transition matrix using pose transformation model
Expected pose matrix；
The pose transformation model specifically:
T(tm)×H(u(tm))
Wherein, H (u (tm)) indicate to translate the force compensating amount u along a dimension in power measurement reference frame b
(tm) after the obtained translation transition matrix.
8. joint of robot position control method according to claim 4 or 5, which is characterized in that watched based on the expectation
It takes control parameter and the current servo control parameter calculates the expectation SERVO CONTROL amount, specifically include:
Calculate the SERVO CONTROL parameter error value between the expectation SERVO CONTROL parameter and the current servo control parameter；
The SERVO CONTROL parameter error value is calculated using PI Controlling model, obtains the expectation SERVO CONTROL amount；
The PI Controlling model specifically:
Wherein, q (tm) indicate the intermediate time tmThe corresponding expectation SERVO CONTROL amount, kpIndicate proportionality coefficient, kiTable
Show integral coefficient, Δ q (tm) indicate the intermediate time tmThe corresponding SERVO CONTROL parameter error value, Δ q (tm)/dtm
Indicate the SERVO CONTROL parameter error value Δ q (tm) to the intermediate time tmThe differential quotient that derivation obtains；
The SERVO CONTROL parameter error value Δ q (tm) specifically:
e(tm)=qref-qactual
Wherein, qrefIndicate the current servo control parameter, qactualIndicate the expectation SERVO CONTROL parameter.
9. a kind of joint of robot position control characterized by comprising
Module is obtained, described in being obtained respectively when joint of robot moves to current pose point along preset reference track
Current power measured value of the joint of robot at the current pose point, current power reference value, current interpolation position auto―control and work as
Preceding SERVO CONTROL parameter；
Computing module, for according to the current power measured value, the current power reference value, the current interpolation position auto―control and
The current servo control parameter calculates desired SERVO CONTROL amount；
Control module is moved for the joint of robot according to the expectation servo control quality management from the current pose point
To expected pose point.
10. a kind of robot characterized by comprising
Power processor, described in being obtained respectively when joint of robot moves to current pose point along preset reference track
Current power measured value of the joint of robot at the current pose point, current power reference value, current interpolation position auto―control and work as
Preceding SERVO CONTROL parameter；According to the current power measured value, the current power reference value, the current interpolation position auto―control and institute
It states current servo control parameter and calculates desired SERVO CONTROL amount；
Joint of robot servo controller is worked as the joint of robot according to the expectation servo control quality management from described
Preceding pose point moves to expected pose point.
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