CN112847367A - Mechanical admittance control driving method - Google Patents
Mechanical admittance control driving method Download PDFInfo
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- CN112847367A CN112847367A CN202110024657.1A CN202110024657A CN112847367A CN 112847367 A CN112847367 A CN 112847367A CN 202110024657 A CN202110024657 A CN 202110024657A CN 112847367 A CN112847367 A CN 112847367A
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- Prior art keywords
- walking
- robot
- user
- aid
- aid robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a mechanical admittance control driving method, which comprises the following steps that a walking-aid robot driving device is arranged, and the movement of a robot is driven by a motor; a handle part at the rear end of the walking-aid robot is provided with a six-axis force sensor; the six-axis force sensor detects the forces Fx, Fy and Mz in the three directions of x, y and z and the moments Mx, My and Mz in a three-dimensional space coordinate system, and accordingly the movement purpose of a user is identified; the walking-aid robot driving device controls the motor to drive the robot to move according to the movement intention of the user according to the movement purpose of the user; the mechanical admittance controls the drive device of the walking-aid robot, the whole structure is simple, the moving speed of the walking-aid robot is controlled by the force applied by a user, and different control requirements of various control modes such as walking aid, power assisting and the like of the robot are met.
Description
Technical Field
The invention relates to a method for driving a device controlled by mechanical admittance, belonging to the field of application of robotics.
Background
With the rapid development of automatic control technology and advanced manufacturing industry, robot technology is more and more widely applied to the aspects of social life. The intelligent walking-assisting robot is one of service robots, and aims to assist the old to accurately complete a rehabilitation training plan by means of science and technology, provide intelligent walking-assisting service for more old people and assist the old with lower limb obstacle to realize daily assisted walking.
The existing walking-assisting robot needs to realize assisting walking through active operation of the old, namely the old actively rides instead of walk. And the semi-disabled old people and the old people with serious limb weakness cannot automatically and actively guide the movement of the walking-aid robot. The human-computer interaction effect needs to be optimized. The robot is required to fully integrate information transmitted by the old people in the design of man-machine interaction, so that the movement intention of the old people is sensed, the man-machine cooperativity is improved, and the walking aid effect is improved.
Disclosure of Invention
The invention provides a purpose of helping a robot to identify the motion of a user based on a six-axis force sensor.
A mechanical admittance control driving method, the method including the steps of S1 installing a walking assist robot driving device, the movement of the robot being driven by a motor;
s2 the handle part at the rear end of the walking-aid robot is provided with a six-axis force sensor;
s3, detecting the force Fx, Fy and Mz and the moment Mx, My and Mz in the three directions of x, y and z in the three-dimensional space coordinate system by the six-axis force sensor, and identifying the movement purpose of the user according to the force Fx, Fy and Mz;
s4 the walking-aid robot driving device controls the motor to drive the robot to move according to the movement intention of the user according to the movement purpose of the user.
When the walking-aid robot is used, a user can push the robot by only small force, and the driving force of the robot mainly comes from the motor. The handle part of the robot is provided with the six-axis force sensor, and when a user pushes the robot, the six-axis force sensor helps the robot to identify the movement purpose of the user. Based on a force admittance control method, a six-axis force sensor is adopted to detect the size and the direction of the manpower of the pushing machine. The six-axis force sensor can detect forces Fx, Fy and Mz in three directions of x, y and z in any three-dimensional coordinate system in space and detect moments Mx, My and Mz in the three directions of x, y and z. And x-y is a coordinate system on a horizontal plane, and the body of a user is parallel to the x axis after the user stands on the handle of the robot. When the user pushes the robot, the user applies force along the y-axis direction; the direction of the applied force is along the x-axis when moving laterally.
The motion state of the user during walking is forward and turning, so the influence on the six-axis force sensor is the forces Fx and Fy in the x and y directions and the torque Mz around the z-axis direction, and the control program of the six-axis force sensor only processes the analog quantity output by the three interfaces. And filtering noise interference by using a filter function, and determining the target speeds of the walking robot in the x direction, the y direction and the turning direction through a mechanical admittance equation according to the magnitudes of the three quantities, namely Fx, Fy and Mz. Then the target speed of each driving wheel is calculated through the inverse kinematics of the walking aid robot, and the speed of each wheel is controlled, so that the movement speed and direction of the walking aid robot are controlled according to the force applied by a user, and the aim of assisting the walking aid of the user is fulfilled.
According to the movement purpose of the user, the control system of the robot drives the walking-aid robot to move according to the movement intention of the user, and the purpose of assisting walking is achieved.
Compared with the prior art, the walking-aid robot driving device is controlled by mechanical admittance, has simple integral structure, ensures that the moving speed of the walking-aid robot is controlled by the force applied by a user, and meets different control requirements of various control modes such as walking aid, power assistance and the like of the robot.
Drawings
FIG. 1 is a schematic force and torque diagram of a six-axis force sensor
FIG. 2 illustrates a driving mechanism for recognizing the purpose of a user's exercise
Detailed Description
The present invention can be applied to a walking assist robot driving apparatus, but is not limited thereto.
When the walking-aid robot is used, a user can push the robot by only small force, and the driving force of the robot mainly comes from the motor. The six-axis force sensor is arranged on the handle part of the robot, and helps the robot to identify the movement purpose of a user when the user pushes the robot. The control scheme is based on a force admittance control method. In the control scheme, the six-axis force sensor can be used for detecting the force magnitude and the direction of the pushing robot. The six-axis force sensor can detect forces Fx, Fy and Mz in three directions of x, y and z in any three-dimensional coordinate system in space and detect moments Mx, My and Mz in the three directions of x, y and z. As shown in fig. 1. The user is behind the robot handle with the body parallel to the x-axis. When the robot is pushed by a person, the person applies force along the y-axis direction; the direction of the applied force is along the x-axis when moving laterally.
Since the main motion states of the user during walking are forward and turning, the six-axis force sensor is influenced by the forces Fx and Fy in the x and y directions and the torque Mz around the z-axis direction, and only the analog quantities output by the three interfaces are processed in the control program. And filtering noise interference by using a filter function, and determining the x and y directions of the robot and the turning direction target speed according to the magnitudes of the three quantities of Fx, Fy and Mz through a mechanical admittance equation. Then, the target speed of each driving wheel is calculated through the inverse kinematics of the robot, and then the speed of each wheel is controlled, so that the movement speed and direction of the robot are controlled according to the force applied by a user, and the aim of assisting the user in walking is fulfilled.
According to the movement purpose of the user, the control system of the robot drives the walking-aid robot to move according to the movement intention of the user, and the purpose of assisting walking is achieved. As shown in fig. 2.
The use steps are as follows:
s1, a walking aid robot driving device is arranged, and the robot moves under the drive of a motor;
s2 the handle part at the rear end of the walking-aid robot is provided with a six-axis force sensor;
s3, detecting the force Fx, Fy and Mz and the moment Mx, My and Mz in the three directions of x, y and z in the three-dimensional space coordinate system by the six-axis force sensor, and identifying the movement purpose of the user according to the force Fx, Fy and Mz;
s4 the walking-aid robot driving device controls the motor to drive the robot to move according to the movement intention of the user according to the movement purpose of the user.
The user pushes the handle part of the walking-aid robot to realize walking movement.
Claims (4)
1. A mechanical admittance control driving method, characterized by: the method includes the steps of S1, arranging a walking-aid robot driving device, wherein the movement of the robot is driven by a motor;
s2 the handle part at the rear end of the walking-aid robot is provided with a six-axis force sensor;
s3, detecting the force Fx, Fy and Mz and the moment Mx, My and Mz in the three directions of x, y and z in the three-dimensional space coordinate system by the six-axis force sensor, and identifying the movement purpose of the user according to the force Fx, Fy and Mz;
s4 the walking-aid robot driving device controls the motor to drive the robot to move according to the movement intention of the user according to the movement purpose of the user.
2. A mechanical admittance control drive method according to claim 1, wherein: when the walking-aid robot is used, a user pushes the robot, and the driving force of the walking-aid robot mainly comes from the motor; the handle part of the walking-aid robot is provided with the six-axis force sensor, and when a user pushes the walking-aid robot, the six-axis force sensor helps the walking-aid robot to identify the movement purpose of the user; based on a force admittance control method, a six-axis force sensor is adopted to detect the size and the direction of the manpower of the walking-aid robot; the six-axis force sensor can detect forces Fx, Fy and Mz in three directions of x, y and z in any three-dimensional coordinate system in space and detect moments Mx, My and Mz in the three directions of x, y and z; x-y is a coordinate system on a horizontal plane, and the body of a user is parallel to the x axis after the user stands on the handle of the walking-aid robot; when a user pushes the walking robot, the user applies force along the y-axis direction; the direction of the applied force is along the x-axis when moving laterally.
3. A mechanical admittance control drive method according to claim 2, wherein: the motion state of the user during walking is forward and turning, so the six-axis force sensor is influenced by forces Fx and Fy in the x and y directions and torque Mz around the z-axis direction, and only analog quantities output by the three interfaces are processed in a control program of the six-axis force sensor; filtering noise interference by using a filter function, and determining target speeds of the walking-aid robot in the x and y directions and the turning direction through a mechanical admittance equation according to the magnitudes of the three quantities, namely Fx, Fy and Mz; then the target speed of each driving wheel is calculated through the inverse kinematics of the walking aid robot, and the speed of each wheel is controlled, so that the movement speed and direction of the walking aid robot are controlled according to the force applied by a user, and the aim of assisting the walking aid of the user is fulfilled.
4. A mechanical admittance control drive method according to claim 2, wherein: according to the movement purpose of the user, the control system of the walking-aid robot drives the walking-aid robot to move according to the movement intention of the user, so that the walking-aid robot can walk with assistance.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110024657.1A CN112847367A (en) | 2021-01-08 | 2021-01-08 | Mechanical admittance control driving method |
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| CN202110024657.1A CN112847367A (en) | 2021-01-08 | 2021-01-08 | Mechanical admittance control driving method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113730190A (en) * | 2021-09-18 | 2021-12-03 | 上海交通大学 | Upper limb rehabilitation robot system with three-dimensional space motion |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105045259A (en) * | 2015-04-27 | 2015-11-11 | 华中科技大学 | Multi-sensor-based walking-aided robot man-machine interface and obstacle avoidance control method thereof |
| CN106730638A (en) * | 2016-12-21 | 2017-05-31 | 华中科技大学 | The control method of the drive lacking healing robot based on reciprocal force identification motion intention |
| CN107015564A (en) * | 2017-05-17 | 2017-08-04 | 华中科技大学 | A kind of assistant robot and combined intelligent control method |
| CN107693314A (en) * | 2017-08-02 | 2018-02-16 | 华中科技大学 | A kind of cane formula, which is independently fallen, protects recovery walking aiding robot |
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2021
- 2021-01-08 CN CN202110024657.1A patent/CN112847367A/en not_active Withdrawn
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105045259A (en) * | 2015-04-27 | 2015-11-11 | 华中科技大学 | Multi-sensor-based walking-aided robot man-machine interface and obstacle avoidance control method thereof |
| CN106730638A (en) * | 2016-12-21 | 2017-05-31 | 华中科技大学 | The control method of the drive lacking healing robot based on reciprocal force identification motion intention |
| CN107015564A (en) * | 2017-05-17 | 2017-08-04 | 华中科技大学 | A kind of assistant robot and combined intelligent control method |
| CN107693314A (en) * | 2017-08-02 | 2018-02-16 | 华中科技大学 | A kind of cane formula, which is independently fallen, protects recovery walking aiding robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113730190A (en) * | 2021-09-18 | 2021-12-03 | 上海交通大学 | Upper limb rehabilitation robot system with three-dimensional space motion |
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