CN113253677B - Robot motion control method combining speed optimization and feedforward compensation - Google Patents
Robot motion control method combining speed optimization and feedforward compensation Download PDFInfo
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Abstract
The invention aims to provide a robot motion control method combining speed optimization and feedforward compensation, which divides a robot motion control system into five modules: instruction analysis, preplanning, track optimization, track dispersion and real-time interpolation. The robot trajectory command is expressed into a parameter curve form, the pose of an actual trajectory is controlled by using a control point and a basis function of the parameter, then the parameter is subjected to speed planning, then smooth optimization and feedforward compensation are carried out by modifying the control point on the basis of the parameter trajectory of the existing speed function, finally trajectory dispersion is carried out according to the chord height difference and the speed variation, and the speed at the discrete point is optimized. The method improves and optimizes the traditional robot motion control system, thereby solving the technical problem of mutual influence of speed optimization and feedforward compensation in the prior art.
Description
Technical Field
The invention belongs to the field of motion control of industrial robots, and particularly relates to a robot motion control method combining speed optimization and feedforward compensation.
Background
The robot motion control system is an important component of an industrial robot and determines the motion mode and the operation performance of the industrial robot. The complex and variable industrial application puts higher requirements on a motion control system of the industrial robot, on one hand, the robot end effector must move according to certain process requirements, and the requirements on an end pose point, speed and acceleration are required. On the other hand, the motion control system directly determines the motion mode, the operation precision and the service life of the industrial robot. Efficient production requirements force industrial robots to increase the speed and acceleration of motion, which also makes the problems of vibration and spatial errors of industrial robots more pronounced.
In industrial applications, articulated robots (also known as robotic arms) are most common and feature a long motion mechanism, mimicking the hand configuration of a human, containing multiple kinematic chains and long link arms in series, making industrial robots more susceptible to vibration and spatial errors. A good motion control system not only can promote industrial robot's operating accuracy and efficiency, can also guarantee good motion stability and reduce mechanical wear, and its key lies in two kinds of advanced control technique, firstly speed optimization, secondly servo error compensation.
The servo error compensation is mainly divided into two types, one is feedback compensation and the other is feedforward compensation. The feedback compensation is a method of compensating for a difference in comparison between feedback information of the servo motor and an input signal. The feedforward compensation is to predict the space error of the actual track according to the transfer function of the servo motion mechanism, and achieve the purpose of reducing the space error by modifying the theoretical track. The former compensation has hysteresis and cannot compensate the space error of the robot in time. The latter compensation has an advance property, and has a better effect of reducing the space error of the robot. Meanwhile, feedback compensation cannot be replaced by feedforward compensation, and the feedforward compensation is used for further improving the space precision of the robot on the basis of the feedback compensation.
A dilemma exists with conventional motion control systems in that servo feed forward compensation is performed after velocity optimization, but the results of the servo feed forward compensation can affect the results of the velocity optimization such that the velocity optimization is no longer an optimal solution. If the two sequences are switched, the result is worse, because the speed optimization changes the dynamic characteristics of the robot in operation, thereby causing the servo compensation to be completely ineffective.
The Chinese patent of the invention (CN 201510826995.1) proposes a robot control system track acceleration and deceleration interpolation algorithm, which adopts multi-spline interpolation as coarse interpolation and adopts a digital integration method and equal time interpolation to perform fine interpolation on a track, but the method only optimizes the motion speed in the motion control of a robot, does not consider servo errors and cannot completely ensure the real-time precision of the track. The invention provides a robot motion control method combining speed optimization and feedforward compensation, and simultaneously considers the continuity and the servo error of the motion speed, thereby effectively improving the motion precision and the smoothness of the robot track.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a robot motion control method combining speed optimization and feedforward compensation, which divides a robot motion control system into five modules: instruction analysis, preplanning, track optimization, track dispersion and real-time interpolation. The method comprises the steps of firstly representing a robot track instruction in a parameter curve form, controlling the pose of an actual track by using a control point and a basis function of the parameter, then carrying out speed planning on the parameter, then carrying out smooth optimization and feedforward compensation by modifying the control point on the basis of the parameter track of the existing speed function, finally carrying out track dispersion according to a chord height difference and a speed variation, and optimizing the speed at a dispersion point.
The technical scheme adopted for solving the problems in the prior art is as follows:
a robot motion control method combining speed optimization and feedforward compensation is characterized by comprising the following steps:
s1, inputting a robot track instruction, analyzing the robot track instruction, acquiring track start and end point pose information, a speed threshold and an acceleration threshold, and storing the track start and end point pose information, the speed threshold and the acceleration threshold as track data in a unified format
In which the character
Is shown as
Bar instruction, character
A threshold value is indicated which is indicative of,
is shown as
The pose information of the bar instructions is,
is shown as
The speed threshold required by the bar instruction,
is shown as
An acceleration threshold required by the bar command; s2, performing initial smoothing on the robot track data obtained in the step S1, converting the original track into a parameter track form, and utilizing the control points
And parameters
Representing the pose of the actual track, and carrying out initial smoothing at the inflection point to obtain a smoothed parameter track
，
In the formula (1)
Representing the smoothed parameter trajectory,
for basis functions, selecting different basis functions may represent different curves,
the pose of the control point directly affects the pose of the actual trajectory for the control point, where the path point of the trajectory is selected as the initial control point, i.e. the control point
；
S3, speed parameter based
Constraint of (2) to the parameter
Speed planning is carried out to obtain a function of the parameter with respect to time, i.e.
；
S4, comparing the parameter track obtained in the step S2
Further smooth optimization is carried out, and smoothness and precision of the track are improved through optimization of the control points;
s5, establishing a robot servo error prediction model and establishing a robot servo error prediction model based on the obtained parameter track
And function of parameter with respect to time
Calculating the track error, and performing feedforward compensation by modifying the control point to obtainOptimizing the track;
s6, performing trajectory dispersion based on the chord height difference and the speed variation on the optimized trajectory obtained in the step S5, and ensuring the chord height difference between the dispersed trajectory and the trajectory obtained in the step S5
Within the precision requirement range, the speed variation between discrete points is within the constraint range, and a discrete track with a speed value is obtained;
s7, carrying out speed optimization on the discrete track of the belt speed obtained in the step S6 at discrete points, so that the speed and the acceleration of the discrete track points have continuity;
and S8, carrying out real-time interpolation on the discrete track point data obtained in the step S7 to obtain servo motion commands, and sending the servo motion commands to servo drivers of all axes of the robot to realize the motion control of the robot.
In the step S2, formula (1) selects different basis functions to directly influence the continuity of the trajectory, and selects a third-order spline as the basis function to realize the G2 or G3 continuity of the actual trajectory.
The parameters are processed in the step S3
The specific method for carrying out speed planning comprises the following steps: based on the parameter trajectory obtained in step S2, different speed planning methods are selected to obtain parameters
Function of time
And then, calculating to obtain a function of the actual track with respect to time, wherein the speed planning method adopts a trapezoidal speed planning method, an S-shaped speed planning method or a polynomial interpolation method and the like, and the motion speed of the actual track can be influenced by selecting different speed planning methods.
The optimization process of the control point in step S4 is as follows: parameter trajectory formula based on step S2
The function of the actual trajectory with respect to time obtained in step S3 and the transfer function of the servo motion mechanism in the related art obtain the position of the actual trajectory point, calculate the offset vector between the actual trajectory point and the target trajectory point (i.e., the path point of the trajectory selected by the control point in step S2), and modify the position of the control point E in step S2 based on the offset vector until the actual trajectory passes through the target trajectory point.
The invention has the following advantages:
1. the invention overcomes the dilemma of mutual influence of speed optimization and feedforward compensation in the traditional robot motion control system, converts the speed planning of the robot track into the speed planning of parameters by using a parameter track method, converts the smooth optimization and the feedforward compensation of the robot track into the optimization compensation of control points, and skillfully avoids the mutual influence of the speed optimization and the feedforward compensation.
2. The motion control framework of the robot provided by the invention has a simple structure, is applicable to different types of robots, can be expanded by combining different speed planning methods, smooth optimization methods and feedforward compensation methods, and has strong universality.
Drawings
FIG. 1 is a general flow diagram of the process of the present invention;
FIG. 2 is a schematic diagram of smoothing of a parameterized trajectory;
FIG. 3 is a schematic diagram of smooth optimization of control points by a parameter trajectory;
fig. 4 is a schematic diagram of trajectory dispersion.
Detailed Description
In the following, the technical solution of the present invention is further described in detail by embodiments with reference to the accompanying drawings, as shown in fig. 1, the robot motion control framework of the present invention combining speed optimization and feedforward compensation mainly includes five modules: the method comprises the steps of instruction analysis, pre-planning, trajectory optimization, trajectory dispersion and real-time interpolation, wherein 1) the instruction analysis is to analyze and store trajectory instructions of the robot into robot trajectory data with a uniform format, so that a foundation is laid for calculation and optimization of subsequent modules, and the instruction analysis can be expanded according to robots of different brands, so that the method is suitable for robot motion control systems of different brands. 2) The pre-planning is to convert the original trajectory data into a parameter trajectory, perform initial smoothing at an inflection point, and perform speed planning on the parameter to obtain the parameter trajectory with an initial speed function. 3) The track optimization is to perform smooth optimization and feedforward compensation on control points of the parameter track on the basis of preplanning, keep the original basis function of the parameter track and the speed function of the parameter unchanged, and obtain the optimized track with the initial speed function. 4) And in the track dispersion, the optimized parameter track is subjected to track dispersion based on the chord height difference and the speed variation, the speed at a dispersion point is optimized, and finally the dispersion track with the speed is obtained. 5) And the final step of real-time interpolation is to convert the discrete track with the speed into a servo motion instruction and send the servo motion instruction to the servo drive of the robot so as to realize the motion control of the robot. The specific implementation steps are as follows:
s1, analyzing the track instruction of the industrial robot, acquiring the start and end position data, the speed threshold and the acceleration threshold of the track, and storing the data into the track data with a uniform format
In which the character
Is shown as
Bar instruction, character
A threshold value is indicated which is indicative of,
is shown as
The pose information of the bar instructions is,
is shown as
The speed threshold required by the bar instruction,
is shown as
An acceleration threshold required by the bar command;
s2, passing the track data obtained in the step S1 through the control point
And parameters
Converting into parameter track, and smoothing at inflection point to obtain smoothed parameter track
As shown in fig. 2. The parameterized expression of the trajectory is as follows:
wherein
Representing the smoothed parameter trajectory,
for basis functions, selecting different basis functions may represent different curves,
the pose of the control point affects the pose of the parameter trajectory for the control point. Where the path of the trajectory is selectedThe point being an initial control point, i.e.
(ii) a Different basis functions are selected to directly influence the continuity of the track, and a third-order spline curve can be selected as the basis function to realize the G2 or G3 continuity of the actual track.
S3, matching the parameters based on the step S2
And (3) carrying out speed planning: based on the parameter trajectory obtained in step S2, different speed planning methods are selected to obtain parameters
Function of time
And then calculating to obtain the function of the actual track with respect to time. There are various speed planning methods, including trapezoidal speed planning, S-type speed planning, polynomial interpolation, etc., and selecting different speed planning methods may affect the motion speed of the actual trajectory.
S4, comparing the parameter track obtained in the step S2
And further performing smooth optimization, and improving the smoothness and the precision of the track by optimizing the control points. The optimization process of the control point comprises the following steps: based on the parameter trajectory formula of step S2, the function of the actual trajectory with respect to time obtained in step S3 and the transfer function of the servomechanism in the prior art, the position of the actual trajectory point is obtained, the offset vector between the actual trajectory point and the target trajectory point (i.e., the path point of the trajectory selected by the control point in step S2) is calculated, and the position of the control point E in step S2 is modified based on the offset vector until the actual trajectory passes the target trajectory point.
As shown in figure 3 of the drawings,
representing the original control point, and at the same time the target point of the original trajectory,
the optimized control points are represented, and after the control points are smoothly optimized, the actual track is enabled to approximately pass through the original path points, so that the precision of the track is improved, and meanwhile, the smoothness of the parameter track is also improved.
S5, establishing a robot servo error prediction model and establishing a robot servo error prediction model based on the obtained parameter track
And function of parameter with respect to time
There are many methods for calculating the trajectory error and specifically establishing a robot servo error prediction model in the prior art, which are not described herein. And compensating the calculated track error to a control point of the parameter track, keeping the original parameter speed function unchanged, and obtaining the optimized track with the initial speed function.
S6, performing trajectory discretization based on chord height difference and speed variation on the optimized trajectory obtained in the step S5, as shown in FIG. 4, when performing trajectory discretization, it is necessary to ensure the chord height difference between the discretized polygonal line trajectory and the trajectory obtained in the step S5
Within the range of the accuracy requirement and the speed variation between discrete points
Within the constraint range, obtaining the discrete track of the belt speed value
。
S7, calculating the discrete track of the tape speed obtained in the step S6
Speed optimization is performed at discrete points.
And S8, carrying out real-time interpolation on the discrete track point data obtained in the step S7 to obtain servo motion commands, and sending the servo motion commands to servo drivers of all axes of the robot to realize the motion control of the robot.
The invention mainly solves the problem that the speed optimization and feedforward compensation in the traditional robot motion control system are mutually influenced, and has the core idea that the track of a robot is converted into a parameter track, the parameter track is expressed by a control point set and parameters, then the parameters are subjected to speed planning to obtain the parameter track with a speed function, then the feedforward optimization is carried out, the feedforward compensation is applied to an actual track by modifying the control point, the original speed function is not influenced, finally the track is dispersed, and the speed function at the discrete point is optimized, so that a track planning scheme which simultaneously meets the speed optimization and the feedforward compensation is obtained.
The protective scope of the present invention is not limited to the above-described embodiments, and it is apparent that various modifications and variations can be made to the present invention by those skilled in the art without departing from the scope and spirit of the present invention. It is intended that the present invention cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.
Claims (4)
1. A robot motion control method combining speed optimization and feedforward compensation is characterized by comprising the following steps:
s1, inputting a robot track instruction, analyzing the robot track instruction, acquiring track start and end point pose information, a speed threshold and an acceleration threshold, and storing the track start and end point pose information, the speed threshold and the acceleration threshold as track data in a unified format
，
Wherein the character
Is shown as
Bar instruction, character
A threshold value is indicated which is indicative of,
is shown as
The pose information of the bar instructions is,
is shown as
The speed threshold required by the bar instruction,
is shown as
An acceleration threshold required by the bar command;
s2, performing initial smoothing on the robot track data obtained in the step S1, converting the original track into a parameter track form, and utilizing the control points
And parameters
Representing the pose of the actual track, and carrying out initial smoothing at the inflection point to obtain a smoothed parameter track
，
In the formula (1)
Representing the smoothed parameter trajectory,
for the basis functions, different basis functions are selected to represent different curves,
the pose of the control point directly affects the pose of the actual trajectory for the control point, where the path point of the trajectory is selected as the initial control point, i.e. the control point
；
S3, speed parameter based
Constraint of (2) to the parameter
Speed planning is carried out to obtain a function of the parameter with respect to time, i.e.
；
S4, comparing the parameter track obtained in the step S2
Further smooth optimization is carried out, and smoothness and precision of the track are improved through optimization of the control points;
s5, establishing a robot servo error prediction model and establishing a robot servo error prediction model based on the obtained parameter track
And function of parameter with respect to time
Calculating a track error, and performing feedforward compensation by modifying a control point to obtain an optimized track;
s6, performing trajectory dispersion based on the chord height difference and the speed variation on the optimized trajectory obtained in the step S5, and ensuring the chord height difference between the dispersed trajectory and the trajectory obtained in the step S5
Within the precision requirement range, the speed variation between discrete points is within the constraint range, and a discrete track with a speed value is obtained;
s7, carrying out speed optimization on the discrete track of the belt speed obtained in the step S6 at discrete points, so that the speed and the acceleration of the discrete track points have continuity;
and S8, carrying out real-time interpolation on the discrete track point data obtained in the step S7 to obtain servo motion commands, and sending the servo motion commands to servo drivers of all axes of the robot to realize the motion control of the robot.
2. A method of robot motion control with combined velocity optimization and feed forward compensation as claimed in claim 1, characterized by: formula (1) in step S2 selects a third-order spline as the basis function.
3. A method of robot motion control with combined velocity optimization and feed forward compensation as claimed in claim 1, characterized by: the parameters are processed in the step S3
The specific method for carrying out speed planning comprises the following steps: based on the parameter trajectory obtained in step S2, different speed planning methods are selected to obtain parameters
Function of time
And then, calculating to obtain a function of the actual track with respect to time, wherein the speed planning method is a trapezoidal speed planning method, an S-shaped speed planning method or a polynomial interpolation method.
4. A method of robot motion control with combined velocity optimization and feed forward compensation as set forth in claim 3, characterized by: the optimization process of the control point in step S4 is as follows: parameter trajectory formula based on step S2
The function of the actual trajectory with respect to time and the transfer function of the servo motion mechanism obtained in step S3 obtain the position of the actual track point, calculate the offset vector between the actual trajectory point and the target track point, and modify the position of the control point E in step S2 based on the offset vector until the actual trajectory passes the target track point.
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| CN116909154B (en) * | 2023-09-13 | 2023-12-08 | 武汉瀚迈科技有限公司 | Robot track optimization method for feedforward compensation through feature table lookup |
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