CN113110051B - Polishing machine manpower/position hybrid control method and system considering error constraint - Google Patents
Polishing machine manpower/position hybrid control method and system considering error constraint Download PDFInfo
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Abstract
The utility model provides a polishing machine manpower/position hybrid control method and system considering error constraint, comprising: establishing a model of contact force between an end effector of the polishing robot and the environment; obtaining an actual contact force between the environment and the robot end effector based on the model, and adjusting a target position in a force control direction according to an error between the actual contact force and a target contact force so that the actual contact force can track the target contact force; and the position control is realized through a high-precision servo driver packaged in the industrial robot. In consideration of the fact that in an actual polishing system, the accurate value of the environmental rigidity is difficult to obtain, certain uncertainty exists, unknown disturbance and other unmodeled dynamics exist, a contact force model is provided when the robot end effector is in contact with the environment, and therefore description of the contact force is closer to the actual situation. The force/position hybrid control method provided by the invention can realize accurate track tracking and force tracking and ensure that the force tracking error is always within a set limit.
Description
Technical Field
The disclosure belongs to the technical field of automatic control of industrial robots, and particularly relates to a manual/position hybrid control method and system for a polishing machine.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
With the rapid development of modern industry, the production requirements cannot be met by simple manual operation, and the defects are gradually revealed. Nowadays, the automation level is continuously improved, the application field of the robot is continuously widened, and the robot also gradually occupies an indispensable position in industrial production. In the initial stage, the robot only needs to complete some work (such as stacking, spray painting and the like) requiring accurate position control, and along with the occurrence of more contact operations (such as grinding, polishing, assembling, medical treatment and the like), not only certain requirements on position control are required, but also the interaction relationship between the robot and the environment needs to be considered, namely the flexibility of the robot.
Compliance studies can be divided into passive compliance and active compliance. Active compliance (force control), namely, a certain control strategy is designed by utilizing feedback information, so that the control on the position and the contact force is realized. In recent years, many force control methods have been proposed by many scholars, most of which can be classified into two types, impedance control and force/bit hybrid control.
The force/bit hybrid control performs force control in the desired direction and position control in the remaining direction. Therefore, the force control and the position control are independently carried out, and on one hand, the controller design in practical application is more flexible. On the other hand, by analyzing common contact type operations (grinding, polishing and the like), the contact force needing to be controlled is generally vertical to the surface of the workpiece, which also conforms to the theoretical characteristics of force/position mixed control.
Initially, the force/position hybrid control method directly designs the robot joint torque, so as to track the target position and the target force. This method is possible theoretically, but takes into account the following practical situations of today's industrial robots: 1) for safety and privacy concerns, the manufacturer does not open the source of the robot joint torque control part and the user cannot access it. 2) The complete dynamics of industrial robots (especially high-degree-of-freedom robots) are not accurately available and the models are too complex to be used for controller design. It seems to be very difficult to directly control the joint moment of the industrial robot. In such cases, some methods that are not based on kinetic models are proposed.
In summary, the present application is directed to the following problems: how to realize accurate positioning and reach the tracking target force in actual production by the polishing robot, and guarantee that the force tracking error is in a certain range, the accurate polishing of the robot is effectively realized.
Disclosure of Invention
In order to overcome the deficiencies of the prior art, the present disclosure provides a polishing machine manual/position hybrid control method considering error constraints, which can realize accurate force tracking and ensure that the force tracking error is always kept within a preset limit.
In order to achieve the above object, one or more embodiments of the present disclosure provide the following technical solutions:
in a first aspect, a method of hybrid error-constrained human/machine force/position control for a grinding machine is disclosed, comprising:
establishing a model of contact force between an end effector of the polishing robot and the environment;
and obtaining an actual contact force between the environment and the robot end effector based on the model, and adjusting the target position in the force control direction by using a force controller according to the error between the actual contact force and the target contact force so that the actual contact force can track the target contact force.
According to the further technical scheme, after the target position in the force control direction is obtained, the target track of the position control subspace is combined with the target position in the force control subspace through setting the selection matrix, and the force/position mixed target track is obtained.
According to the further technical scheme, the force/position mixed target track is sent to the polishing robot, the polishing robot obtains a target joint angle through inverse kinematics, and then a high-precision servo driver packaged in the polishing robot drives the joint to reach the target angle, so that position control is achieved. And then according to the current joint angle, obtaining the actual track of the current robot end effector and the position of the current robot end effector in the force control direction through positive kinematics of the robot.
In the present disclosure, consider first that the environment is represented directly by a simple rigid model. On the basis, the final contact force model is established by considering the unmodeled dynamics such as unknown disturbance and the like in the contact process of the polishing robot and the environment and the difficulty in obtaining the accurate value of the environmental rigidity.
In a further technical scheme, a model of the contact force of unmodeled dynamics is considered, specifically:
f(t)＝ks[xtf(t)-xe]+d(t),
where t denotes time, the variable is followed by (t) denotes the variable as a function of time t, f (t) denotes the actual contact force, ksIs the environmental stiffness, xtf(t) is the robot end effector position in the force control direction, xeRepresenting the environment position, d (t) is unmodeled dynamics such as unknown disturbance.
According to the further technical scheme, k is defined based on the fact that an accurate value of environmental rigidity cannot be obtained in actual productionsK is k + Δ ksIs an unknown difference, the model of the contact force is arranged to
f(t)＝k[xtf(t)-xe]+Δk[xtf(t)-xe]+d(t)
＝k[xtf(t)-xe]+b(t),
Where b (t) represents the unknown part of the model.
According to the further technical scheme, a force controller is constructed according to the error between the actual contact force and the target contact force, and the force controller is as follows:
where t denotes time, the variable is followed by (t) denotes that the variable is a function with respect to time t, some of the variables are left out by (t) for the sake of clarity, sgn is a sign function, k is the nominal value of the stiffness of the environment, e is the force tracking error,
is the first derivative of e with respect to time, fdWhich is indicative of the target contact force,
is fdFirst derivative with respect to time, α ∈ R+Representing actual industrial applicationPreset limit of force tracking error, k0,k1Are both positive control gains and η is a positive gain. Furthermore, k1Need to satisfy
Where σ is a positive upper bound constant.
In a second aspect, a hybrid error-constrained grinding robot force/position control system is disclosed, comprising:
the model building module is used for building a model of contact force between the polishing robot end effector and the environment;
and the force tracking module is used for obtaining an actual contact force between the environment and the robot end effector based on the model, and adjusting the target position in the force control direction according to an error between the actual contact force and the target contact force, so that the actual contact force can track the target contact force.
The above one or more technical solutions have the following beneficial effects:
in consideration of the fact that in an actual polishing system, the accurate value of the environmental rigidity is difficult to obtain, certain uncertainty exists, unknown disturbance and other unmodeled dynamics exist, a contact force model is provided when the robot end effector is in contact with the environment, and therefore description of the contact force is closer to the actual situation.
The invention provides a force/position hybrid control method considering error constraint based on an established contact force model by fully considering the actual situation of a robot during polishing, and particularly provides a force controller which can realize accurate force tracking and ensure that the force tracking error is always kept within a preset limit. In addition, the method can ensure the stability of the whole force control closed loop system, and is suitable for the track tracking and the target force tracking of contact robots such as industrial grinding, polishing and the like.
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
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure.
FIG. 1 is a block diagram of the control architecture of the hybrid force/bit control method of the present invention;
FIG. 2 is a numerical simulation result of the force control method of the present invention, in which the contact force and force tracking error correspond to f and e, respectively;
FIG. 3 is a numerical simulation result of prior art 1 in a comparative simulation, where contact force and force tracking error correspond to f and e, respectively;
fig. 4 is the result of numerical simulation of prior art 2 in a comparative simulation, where contact force and force tracking error correspond to f and e, respectively.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict.
Example one
The embodiment discloses a grinding machine manpower/position hybrid control method considering error constraint, which comprises the following steps:
providing a model of the contact force between the polishing robot and the environment;
giving an integral structure of a force/position hybrid control method considering error constraint, and providing a force controller;
setting system parameters of a polishing system;
obtaining an actual contact force between the tail end of the robot and the environment according to the contact force model;
acquiring a force control input signal for controlling the robot end effector according to the force controller;
and accurately tracking the target force according to the force control input signal, ensuring that the force tracking error is within a set limit, and simultaneously realizing position control through a high-precision servo driver packaged in the industrial robot.
System parameters of the robotic polishing system include: environmental position, environmental stiffness, and unmodeled dynamics such as unknown disturbances.
The control targets include: 1) controlling the robot end effector to track a target track; 2) controlling the contact force between the robot end effector and the environment to accurately track the contact force of the target; 3) the limiting force tracking error does not exceed a preset limit throughout the control process. The invention can realize accurate track tracking and force tracking and ensure that the force tracking error is always within a set limit.
In the specific implementation example, regarding the environment model:
for sanding tasks, a suitable sanding force is necessary, but in reality it is difficult to measure the sanding force directly. Through analysis of the sanding force generation process, the end effector is found to be always perpendicular to the surface of the workpiece, thereby generating a normal contact force (i.e., pressure) and a sanding force. Furthermore, sanding force is directly proportional to normal contact force. Based on this physical relationship, the contact force is usually directly analyzed and controlled to obtain a suitable sanding force.
During the sanding process, the environment is directly represented by a simple rigid model. On the basis, the following contact force model is obtained by considering the unmodeled dynamics such as unknown disturbance in the contact process:
f(t)＝ks[xtf(t)-xe]+d(t), (1)
where t represents time and the variable is followed by (t) a variable that is a function of time t. f (t) tableShowing the actual contact force, ksIs the environmental stiffness, xtf(t) is the robot end effector position in the force control direction, xeRepresenting the environment position, d (t) is unmodeled dynamics such as unknown disturbance.
Considering that it is difficult to obtain an accurate value of the environmental rigidity in practical production, we define ksK is k + Δ ksIs an unknown difference. Then (1) can be arranged into
Where b (t) represents the unknown part of the model, which is physically bounded in practical applications.
With regard to implementation of specific force/bit hybrid control:
the control target is to make the robot end effector track the target track to realize the target force tracking.
Regarding the structure of the force/bit hybrid control method, the invention provides a force/bit hybrid control method considering error constraint, and the structure is shown in fig. 1. In the figure, fdFor the target contact force, f is the actual contact force, e ═ f-fdRepresenting force tracking error, xpTarget trajectory, x, representing a position control subspacefRepresenting the target position, x, of the force control subspacedRepresenting a force/position hybrid target trajectory, x being the actual trajectory of the robot end-effector, xtfThe robot end effector position in the force control direction.
The structure of the whole control method is explained from the following four aspects:
1) the actual contact force. As discussed previously, the actual contact force f between the environment and the robotic end effector is described using a contact force model (2) that accounts for unmodeled dynamics and environmental stiffness uncertainties.
In the scheme of the disclosure, both the contact force model and the environment model refer to the same model.
2) A force controller. According to the actual contact force f and the target contact force fdError e between, force controller adjusting force controlTarget position x in directionfEnabling f to track the target contact force fd. The controller designed will be described in the next subsection.
3) Force/position mixes the target trajectory. The position is controlled to the target trajectory x of the subspace by setting selection matrices S and S '(S' ═ I-S, I is an identity matrix)pWith a target position x in the force control subspacefCombined to obtain a force/position mixed target track xd。
4) And controlling the position of the robot. Target locus x in Cartesian spacedProviding the target joint angle q to the robot body and obtaining the target joint angle q by using the inverse kinematics of the robotd. The servo driver packaged in the industrial robot can drive the robot joint to the target joint angle qd. According to the current joint angle q, the actual track x and the position x in the force control direction of the current robot end effector can be obtained through positive kinematics of the robottf. Since the servo driver is directly packaged in the industrial robot and the control precision is high, the part is not designed for the moment, and the invention assumes that x is xd,xtf＝xf。
About force controller
Based on the model and the above control structure, a position-based force controller is proposed. First, the force tracking error e is expressed as follows:
where t represents time and the variable is followed by (t) a variable that is a function of time t. k is the ambient stiffness ksNominal value of (a), xf(t) target position in force control subspace, xeRepresenting the position of the environment, b (t) representing the unknown part of the model, fd(t) is the target contact force. By deriving e with respect to time, it is obtained
The following were used:
where t represents time, the variable being followed by (t) a variable representing the variable as a function of time t,
is the first derivative of b (t) with respect to time. Based on
Is designed as the following force controller
Where t denotes time, and a variable followed by (t) denotes that the variable is a function of time t, and some variables followed by (t) are omitted for simplicity. sgn is a sign function, k is the nominal value of the ambient stiffness, e is the force tracking error,
is the first derivative of e with respect to time, fdWhich is indicative of the target contact force,
is fdFirst derivative with respect to time, α ∈ R+Preset limit, k, representing force tracking error in practical industrial applications0,k1Are both positive control gains and η is a positive gain. Furthermore, k1Need to satisfy
Where σ is a positive upper bound constant.
Example two
This embodiment discloses a hybrid control system of a grinding robot power/position considering error constraints, comprising:
the model building module is used for building a model of contact force between the polishing robot end effector and the environment;
and the force tracking module is used for obtaining an actual contact force between the environment and the robot end effector based on the model, and adjusting the target position in the force control direction according to an error between the actual contact force and the target contact force, so that the actual contact force can track the target contact force.
EXAMPLE III
The embodiment aims to provide a simulation platform.
In order to achieve the purpose, the invention adopts the following technical scheme:
the embodiment provides a manual control simulation platform of a grinding machine, which is built under the environment of MATLAB/Simulink. The method comprises the following steps: the touch force model, the parameter setting module, the controller, the output display and the like.
When the simulation platform verifies the control method, the following steps are realized:
receiving set system parameters and target contact force;
acquiring an actual contact force between the tail end of the robot and the environment according to the contact force model;
and acquiring a force control input signal for controlling the robot end effector according to the force controller, realizing accurate tracking of the target force and ensuring that the force tracking error is within a set limit.
And (3) simulation results:
in order to verify the effectiveness of the force controller designed by the invention, simulation is carried out on a built simulation platform. In the simulation, nominal values for the environmental position and the environmental stiffness are given as follows:
xe＝10-3m,k＝2000N/m,
wherein m represents rice and N represents cattle.
Further, it is considered that in actual production, in order to ensure product quality, it is necessary to limit the force tracking error to a certain range. The present simulation defines the upper error bound α as 1.88N. And consider the system unknown part as follows:
b(t)＝e0.1sin(0.3t)cos(t). (7)
in order to start the robot smoothly and avoid sudden impacts, the following target contact forces are chosen:
fd(t)＝20-20e-10t. (8)
the simulation uses a proportional-integral controller (PI) and a force control method proposed by Ma, etc. (B.Ma, Y.Fang, X.Huang, and S.Wu, Adaptive hybrid force/position control for an industrial robot: the Theory and experience, High technology letters, vol.16, No.2, pp.171-177,2010) as a comparison method.
First, the control gain of the force controller proposed by the present invention is
k0＝4,k1＝2,η＝1.5.
Through parameter adjustment, the gain in the proportional-integral controller is selected as follows:
kp＝-3×10-3,ki＝-5×10-3.
likewise, the gain of the force control method proposed by Ma et al is:
ke＝0.8,kλ＝0.1.
FIGS. 2, 3 and 4 show simulation results of the force control method proposed by the force controller, proportional-integral controller and Ma, etc., respectively, of the present invention, in which the contact force and force tracking error correspond to f and e, respectively, and the dotted line of the 1 st sub-graph (from top to bottom) represents the target contact force f of fd. By utilizing the force control method provided by the invention, the contact force can quickly track the target force and is stabilized at 20N without overshoot, which is very important for safe and accurate grinding. Forces exceeding a preset value can cause damage to the workpiece surface. And, it can be seen that the force tracking error is always within preset limits throughout the control process. However, under the action of the proportional-integral controller and the control method proposed by Ma, etc., the target force tracking can also be realized, but the problems of tracking delay and large initial error respectively exist. Furthermore, the maximum error exceeds 1.88N.
In conclusion, the method of the invention can obtain more satisfactory control effect, effectively realize accurate force tracking and ensure that the force tracking error is within the preset limit.
Those skilled in the art will appreciate that the modules or steps of the present disclosure described above can be implemented using general purpose computer means, or alternatively, they can be implemented using program code executable by computing means, whereby the modules or steps may be stored in memory means for execution by the computing means, or separately fabricated into individual integrated circuit modules, or multiple modules or steps thereof may be fabricated into a single integrated circuit module. The present disclosure is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Although the present disclosure has been described with reference to specific embodiments, it should be understood that the scope of the present disclosure is not limited thereto, and those skilled in the art will appreciate that various modifications and changes can be made without departing from the spirit and scope of the present disclosure.
Claims (5)
1. A polishing machine manpower/position hybrid control method considering error constraint is characterized by comprising the following steps:
establishing a model of contact force between an end effector of the polishing robot and the environment;
obtaining an actual contact force between the environment and the robot end effector based on the model, and adjusting a target position in a force control direction by using a force controller according to an error between the actual contact force and a target contact force so that the actual contact force can track the target contact force;
the contact force model specifically comprises:
f(t)＝ks[xtf(t)-xe]+d(t),
where t denotes time, the variable is followed by (t) denotes the variable as a function of time t, f (t) denotes the actual contact force, ksIs the environmental stiffness, xtf(t) is the robot end effector position in the force control direction, xeRepresenting the environment position, d (t) is unmodeled dynamics such as unknown disturbance and the like;
defining k based on the fact that an accurate value of the environmental rigidity cannot be obtained in actual productionsK is k + Δ ksIs an unknown difference, the model of the contact force is arranged to
Wherein b (t) represents the unknown part of the model;
constructing a force controller according to the error between the actual contact force and the target contact force, wherein the force controller is as follows:
where t denotes time, the variable is followed by (t) denotes that the variable is a function with respect to time t, some of the variables are left out by (t) for the sake of clarity, sgn is a sign function, k is the nominal value of the stiffness of the environment, e is the force tracking error,
is the first derivative of e with respect to time, fdWhich is indicative of the target contact force,
is fdFirst derivative with respect to time, α ∈ R+Preset limit, k, representing force tracking error in practical industrial applications0,k1Are all positive control gains, eta is a positive gain, and k is1Need to satisfy
Where σ is a positive upper bound constant.
2. A method as claimed in claim 1 for error constrained hybrid control of a grinding machine tool, wherein after the target position in the force control direction is obtained, the target trajectory in the position control subspace is combined with the target position in the force control subspace by setting the selection matrix to obtain a force/position hybrid target trajectory.
3. The method as claimed in claim 1, wherein the force/position mixed target trajectory is transmitted to the polishing robot, the polishing robot obtains a target joint angle through inverse kinematics, the joint is driven to the target angle through a high-precision servo driver encapsulated inside the polishing robot, so as to realize position control, and then the actual trajectory and the position of the current robot end effector in the force control direction are obtained through the robot positive kinematics according to the current joint angle.
4. Consider machine people power/position hybrid control system that polishes of error constraint, characterized by includes:
the model building module is used for building a model of contact force between the polishing robot end effector and the environment;
the force tracking module is used for obtaining an actual contact force between the environment and the robot end effector based on the model, and adjusting a target position in a force control direction according to an error between the actual contact force and a target contact force so that the actual contact force can track the target contact force;
the contact force model specifically comprises:
f(t)＝ks[xtf(t)-xe]+d(t),
where t denotes time, the variable is followed by (t) denotes the variable as a function of time t, f (t) denotes the actual contact force, ksIs the environmental stiffness, xtf(t) machines in force-controlled directionHuman end effector position, xeRepresenting the environment position, d (t) is unmodeled dynamics such as unknown disturbance and the like;
defining k based on the fact that an accurate value of the environmental rigidity cannot be obtained in actual productionsK is k + Δ ksIs an unknown difference, the model of the contact force is arranged to
Wherein b (t) represents the unknown part of the model;
constructing a force controller according to the error between the actual contact force and the target contact force, wherein the force controller is as follows:
where t denotes time, the variable is followed by (t) denotes that the variable is a function with respect to time t, some of the variables are left out by (t) for the sake of clarity, sgn is a sign function, k is the nominal value of the stiffness of the environment, e is the force tracking error,
is the first derivative of e with respect to time, fdWhich is indicative of the target contact force,
is fdFirst derivative with respect to time, α ∈ R+Preset limit, k, representing force tracking error in practical industrial applications0,k1Are all positive control gains, eta is a positive gain, and k is1Need to satisfy
Where σ is a positive upper bound constant.
5. Machine manual control simulation platform polishes, characterized by includes: a controller configured to perform the steps of the method of any of claims 1-3.
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