CN111515940A - Reconfigurable modular robot system - Google Patents
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- CN111515940A CN111515940A CN202010434108.7A CN202010434108A CN111515940A CN 111515940 A CN111515940 A CN 111515940A CN 202010434108 A CN202010434108 A CN 202010434108A CN 111515940 A CN111515940 A CN 111515940A
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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
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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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
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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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
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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
- B25J9/1679—Programme controls characterised by the tasks executed
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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
- B25J9/1694—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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Abstract
The invention relates to a reconfigurable modular robot system, in particular to the field of program control manipulators. The method comprises the following steps: the teaching demonstration device comprises a controller, a human-computer interface, a demonstrator and a sensor; the human-computer interface is respectively connected with the controller, the demonstrator and the sensor, the human-computer interface is used for receiving user operation information, the demonstrator is used for receiving teaching operation information and sending the teaching operation information to the human-computer interface, and the sensor is used for acquiring and processing signals, generating sensor feedback information and sending the sensor feedback information to the human-computer interface; the controller comprises a task scheduling module, a design function module and a motion function module, and the human-computer interface is used for sending the user operation information, the teaching operation information and the sensor feedback information to the task scheduling module and generating task scheduling information. The technical problem of how to control the reconstructed modular robot is solved, and the method and the device are suitable for controlling the reconstructed modular robot.
Description
Technical Field
The invention relates to the field of program control manipulators, in particular to a reconfigurable modular robot system.
Background
With the increasing development of scientific level, the robot technology has gradually penetrated into the aspects of people's life, and the research and development of more intelligent robots enrich the functions that they can realize, widen the application range field, and become the research direction of people for a period of time in the future. However, the problem faced at present is that the mechanical structure of each robot is well designed when leaving the factory, and cannot be changed randomly, and the inherent condition limits the task that can be completed in the present day of high flexibility of industrial production. Under the circumstances, the development of a robot system capable of changing self conditions according to external factors is a trend, a modular robot can be reconstructed, dynamic parameters of the robot can be changed according to different requirements of tasks, and the robot system is effectively suitable for an advanced robot system in the existing working environment, and accordingly, the development of the robot system is in line with the trend.
Reconfigurable Modular robots (Reconfigurable Modular robots) consist of a number of basic modules of links and joints of different sizes and capabilities. The modules have connectivity and interchangeability, and the overall configuration of the robot can be changed through connection or separation of the modules, so that the motion forms of the robot are enriched. The reconfigurable robot system with different configurations is reconstructed according to task requirements in different working environments, and the application range of the reconfigurable robot is greatly widened. In addition, the modular design method is adopted, the production and manufacturing cost is reduced, and the work can be quickly recovered by replacing a fault module when the fault occurs suddenly, so that the robot is very convenient to maintain. Therefore, the reconfigurable modular robot has a good application prospect in the field of industrial robot application, and becomes a popular field of robot research.
The reconfigurable modular robot changes the kinematic and dynamic parameters before and after the structural change, so that the mathematical model of the controlled object needs to be regenerated according to the difference of the configuration. For a controller relying on a dynamic model, the change of the model means that a requirement is made on the parameter adaptability of the control rate.
Disclosure of Invention
The technical problem to be solved by the invention is how to control the reconstructed modular robot.
The technical scheme for solving the technical problems is as follows: a reconfigurable modular robotic system comprising: the teaching demonstration device comprises a controller, a human-computer interface, a demonstrator and a sensor;
the human-computer interface is respectively connected with the controller, the demonstrator and the sensor, the human-computer interface is used for receiving user operation information, the demonstrator is used for receiving teaching operation information and sending the teaching operation information to the human-computer interface, and the sensor is used for acquiring and processing signals, generating sensor feedback information and sending the sensor feedback information to the human-computer interface; the controller comprises a task scheduling module, a design function module and a motion function module, the human-computer interface is used for sending the user operation information, the teaching operation information and the sensor feedback information to the task scheduling module and generating task scheduling information, the design function module is used for receiving the task scheduling information and generating configuration design information, the motion function module is used for receiving the configuration design information and the task scheduling information to generate servo control information and sending the servo control information to the modular robot, and the modular robot operates according to the servo control information.
The invention has the beneficial effects that: in the scheme, after the demonstrator and the sensor are connected with the human-computer interface, a user receives or sends teaching operation information and sensor feedback information to the task scheduling module through the human-computer interface, and simultaneously sends the user operation information to the task scheduling module through the human-computer interface, and the user operation information is scheduled by the task scheduling module and then is subjected to configuration design or motion planning and control; the purpose of controlling the modular robot is achieved by performing kinematic analysis and dynamics analysis on the modular robot through the design function module and the motion function module to generate servo control information.
On the basis of the technical scheme, the invention can be further improved as follows.
Further, the controller is a PC controller.
The modular robot has the advantages that the modular robot is composed of a plurality of modules, the plurality of modules are needed to cooperate when tasks are executed, human-computer interaction and complex calculation are possibly needed in the process, and therefore the PC is used as a main controller.
Further, the controller also comprises a simulation module, the simulation module is respectively connected with the design function module, the motion function module and the modular robot, and the simulation module is used for receiving the servo control information and carrying out simulation analysis.
The method has the advantages that the using effect of the servo control information is verified through simulation analysis, and therefore the effectiveness of the self-adaptive control algorithm generated by the motion function module and the design function module is verified.
Further, the design function module is used for generating space pose conversion information of each module of the modular robot according to task scheduling information, and the design function module is also used for generating a general form of a positive kinematic equation of each module according to a kinematic momentum and exponential product formula.
Further, the motion function module is used for obtaining a dynamic equation in a closed loop form according to a Newton-Euler iteration algorithm and the general form of the positive kinematics.
Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a system architecture diagram of an embodiment of a reconfigurable modular robotic system of the present invention;
fig. 2 is a system structure diagram of another embodiment of the reconfigurable modular robotic system of the present invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
The embodiment is basically as shown in the attached figure 1:
the reconfigurable modular robot system in this embodiment includes: the teaching demonstration device comprises a controller 7, a human-computer interface 2, a demonstrator 3 and a sensor 1;
the human-computer interface 2 is respectively connected with the controller 7, the demonstrator 3 and the sensor 1, the human-computer interface 2 is used for receiving user operation information, the demonstrator 3 is used for receiving teaching operation information and sending the teaching operation information to the human-computer interface 2, and the sensor 1 is used for acquiring and processing signals, generating feedback information of the sensor 1 and sending the feedback information to the human-computer interface 2; the controller 7 comprises a task scheduling module 4, a design function module 5 and a motion function module 6, the human-computer interface 2 is used for sending user operation information, teaching operation information and sensor 1 feedback information to the task scheduling module 4 and generating task scheduling information, the design function module 5 is used for receiving the task scheduling information and generating configuration design information, the motion function module 6 is used for receiving the configuration design information and the task scheduling information and generating servo control information and sending the servo control information to the modular robot 8, the modular robot 8 is used for operating according to the servo control information, the modular robot 8 in the embodiment can be an EV-MRobot reconfigurable module robot, the joints of the reconfigurable modular robot are intelligent joints adopting a distributed control system, and the intelligent joints in the embodiment comprise a 93-degree-of-freedom rotating module, a 85-degree-of-freedom rotating module, a paw module and a two-degree-of-freedom holder module.
The invention has the beneficial effects that: in the scheme, after the demonstrator 3 and the sensor 1 are connected with the human-computer interface 2, a user receives or sends teaching operation information and sensor 1 feedback information to the task scheduling module 4 through the human-computer interface 2, and simultaneously can also send user operation information to the task scheduling module 4 through the human-computer interface 2, and the user operation information is scheduled through the task scheduling module 4 and then subjected to configuration design or motion planning and control; the purpose of controlling the modular robot 8 is achieved by performing kinematic analysis and kinetic analysis on the modular robot 8 through the design function module 5 and the motion function module 6 to generate servo control information, and the servo control information is generated through the kinematic analysis and the dynamic analysis of the design function module 5 and the motion function module 6, so that the modular robot 8 can control the generated servo control information even if the modular robot 8 is reconstructed, and the technical problem of how to control the reconstructed modular robot 8 is solved.
On the basis of the technical scheme, the invention can be further improved as follows.
Optionally, in some other embodiments, the controller 7 is a PC controller 7.
The modular robot 8 is composed of a plurality of modules, and a plurality of modules are needed for cooperation when a task is executed, and the process may need human-computer interaction and complex calculation, so that a PC is used as the main controller 7.
Optionally, as shown in fig. 2, in some other embodiments, the controller 7 further includes a simulation module 9, the simulation module 9 is connected to the design function module 5, the motion function module 6, and the modular robot 8, respectively, and the simulation module 9 is configured to receive the servo control information and perform simulation analysis.
The using effect of the servo control information is verified through simulation analysis, so that the effectiveness of the self-adaptive control algorithm generated by the motion function module 6 and the design function module 5 is verified.
Optionally, in some other embodiments, the design function module 5 is configured to generate spatial pose transformation information of each module of the modular robot 8 according to the task scheduling information, and the design function module 5 is further configured to generate a general form of a positive kinematic equation of each module according to the formula of the kinematic vector and the exponential product.
The general form of the positive kinematic equation in this example is:
establishing three coordinate systems on a joint module of the robot, wherein dots of a coordinate system i and a coordinate system O are respectively positioned on an input interface and an output interface of the module, a z axis is superposed with an axis of a port, and the other two axes are orthogonal to the axis; coordinate J with origin at offThe center of the pitch rotation contour line, the y-axis and the joint rotation axis are coincident, and because of the structural particularity of the modules, the input and output ports are respectively provided with two, in the embodiment, 93 modules are taken as an example, rigid body motion is expressed by rigid body transformation describing the instantaneous motion and the posture of a rigid body moving coordinate system relative to a fixed coordinate system, and an equation is obtained
Wherein
Is the pose of coordinate system J relative to coordinate system i,
is the initial pose of coordinate system J relative to coordinate system i,
is in an exponential form of motion vector, represents the transformation from the initial pose to the final pose of the rigid body,
is the kinematic rotation of the joint axis.
Optionally, in some other embodiments, the motion function module 6 is configured to obtain a closed-loop form of the dynamical equation according to a general form of a newton-euler iterative algorithm and a positive kinematics, and in this embodiment, an exponential product formula represented by a motion spiral, a jacobian matrix, a force spiral and a transformation thereof are applied to a lagrangian equation of the dynamics to obtain a closed-explicit lagrangian equation. The closed loop form of the kinetic equation in this embodiment is
M (q) is a global matrix description of generalized quality,
is a global matrix description of inertial and coriolis forces, and n (q) is a global matrix description of external forces acting on the robot and gravity.
It should be noted that the above embodiments are product embodiments corresponding to the above method embodiments, and for the description of each structural device and the optional implementation in this embodiment, reference may be made to the corresponding description in the above method embodiments, and details are not repeated herein.
The reader should understand that in the description of this specification, reference to the description of the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (5)
1. A reconfigurable modular robotic system, comprising: the teaching demonstration device comprises a controller, a human-computer interface, a demonstrator and a sensor;
the human-computer interface is respectively connected with the controller, the demonstrator and the sensor, the human-computer interface is used for receiving user operation information, the demonstrator is used for receiving teaching operation information and sending the teaching operation information to the human-computer interface, and the sensor is used for acquiring and processing signals, generating sensor feedback information and sending the sensor feedback information to the human-computer interface; the controller comprises a task scheduling module, a design function module and a motion function module, the human-computer interface is used for sending the user operation information, the teaching operation information and the sensor feedback information to the task scheduling module and generating task scheduling information, the design function module is used for receiving the task scheduling information and generating configuration design information, the motion function module is used for receiving the configuration design information and the task scheduling information to generate servo control information and sending the servo control information to the modular robot, and the modular robot operates according to the servo control information.
2. The reconfigurable modular robotic system of claim 1, wherein: the controller is a PC controller.
3. The reconfigurable modular robotic system of claim 1, wherein: the controller further comprises a simulation module, the simulation module is respectively connected with the design function module, the motion function module and the modular robot, and the simulation module is used for receiving the servo control information and carrying out simulation analysis.
4. The reconfigurable modular robotic system of claim 1, wherein: the design function module is used for generating space pose conversion information of each module of the modular robot according to task scheduling information, and is also used for generating a general form of a positive kinematic equation of each module according to a motion vector and exponential product formula.
5. The reconfigurable modular robotic system of claim 1, wherein:
and the motion function module is used for obtaining a dynamic equation in a closed loop form according to a Newton-Euler iteration algorithm and the general form of the positive kinematics.
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Application publication date: 20200811 |