CN114115013B - Control method of robot motor, terminal device and storage medium - Google Patents
Control method of robot motor, terminal device and storage medium Download PDFInfo
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention discloses a control method of a robot motor, which comprises the following steps: acquiring a plurality of spatial position information of a shaft to be identified in the robot corresponding to a plurality of test points, wherein the shaft to be identified is at least one of a plurality of motion shafts in the robot; calculating a plurality of angle transmission errors corresponding to the shaft to be identified by utilizing the plurality of spatial position information; solving identification parameters of the shaft to be identified by utilizing a plurality of nominal joint angles, a plurality of angle transmission errors and a reduction ratio of the shaft to be identified, which correspond to a plurality of test points of the shaft to be identified; and constructing an angle transmission error model by using the identification parameters, and controlling a motor of the shaft to be identified of the robot by using the angle transmission error model. The invention also discloses a terminal device and a computer readable storage medium. By utilizing the method provided by the invention, the built angle transmission error model considers the installation error, so that the accuracy of the angle transmission error model is higher, and the accuracy of robot control is improved.
Description
Technical Field
The present invention relates to the field of automatic control technologies, and in particular, to a method for controlling a robot motor, a terminal device, and a computer readable storage medium.
Background
The use of a high-precision robot is an effective means for improving the track precision of an industrial robot, and at present, in order to further improve the precision of the robot, a technician performs calibration of an angle transmission error of a single motion axis on the robot so as to control a motor of the motion axis in the robot by using the calibrated angle transmission error, thereby realizing accurate control of the robot.
However, with the existing method, the operation accuracy of the robot is still low.
Disclosure of Invention
The invention mainly aims to provide a control method, a control device, terminal equipment and a computer readable storage medium for a robot motor, and aims to solve the technical problem that the operation accuracy of a robot is still low by adopting the existing method in the prior art.
In order to achieve the above object, the present invention provides a control method of a robot motor, the method comprising the steps of:
Acquiring a plurality of pieces of spatial position information of a shaft to be identified in a robot, wherein the spatial position information corresponds to a plurality of test points, and the shaft to be identified is at least one of a plurality of movement shafts in the robot;
calculating a plurality of angle transmission errors corresponding to the shafts to be identified by using the plurality of spatial position information;
solving identification parameters of the shaft to be identified by utilizing a plurality of nominal joint angles, a plurality of angle transmission errors and a reduction ratio of the shaft to be identified, which correspond to a plurality of test points of the shaft to be identified;
and constructing an angle transmission error model by using the identification parameters, and controlling a motor of a shaft to be identified of the robot by using the angle transmission error model.
Optionally, the step of calculating a plurality of angle transmission errors corresponding to the axis to be identified by using a plurality of spatial position information includes:
calculating actual joint angle interval values among a plurality of actual joint angles corresponding to the shaft to be identified by using the plurality of spatial position information;
calculating a plurality of nominal joint angle interval values corresponding to the axes to be identified by using a plurality of nominal joint angles;
And calculating a plurality of angle transmission errors corresponding to the shaft to be identified by using the actual joint angle interval values and the nominal joint angle interval values.
Optionally, the step of calculating the actual joint angle interval value between the actual joint angles corresponding to the axis to be identified by using the spatial position information includes:
Fitting operation is carried out on the plurality of space position information, and the rod length of the shaft to be identified is obtained;
based on the plurality of spatial position information, obtaining a plurality of adjacent point distances corresponding to the shafts to be identified;
calculating a plurality of actual joint angle interval values by using a plurality of adjacent point distances and the rod lengths.
Optionally, the step of calculating a plurality of angle transmission errors corresponding to the axis to be identified by using a plurality of actual joint angle interval values and a plurality of nominal joint angle interval values includes:
calculating a plurality of correlation differences by using a plurality of actual joint angle interval values and a plurality of nominal joint angle interval values;
Constructing an initial equation set by utilizing the related difference value and an angle incidence relation, wherein the angle incidence relation is a relation between an actual joint angle and a nominal joint angle;
constructing a complementary equation by utilizing the preset function property of the sine function;
Constructing a result equation set by utilizing the supplementary equation and the initial equation set;
And solving the result equation set to obtain a plurality of angle transmission errors corresponding to the shafts to be identified.
Optionally, the step of solving the identification parameter of the shaft to be identified by using a plurality of nominal joint angles of the shaft to be identified corresponding to a plurality of test points, a plurality of angle transmission errors and a reduction ratio of the shaft to be identified includes:
Constructing a model to be identified by using a plurality of nominal joint angles, a plurality of angle transmission errors, the reduction ratio and a preset angle transmission error representation model;
constructing an iteration function by using the model to be identified, wherein the output of the iteration function is a correction quantity;
Creating an initial positioning value of the model to be identified;
substituting the initial positioning value into the iterative function to perform iterative operation until the correction quantity output by the iterative function meets a preset condition, so as to obtain a final positioning value;
And obtaining the identification parameters of the shaft to be identified based on the final positioning value.
Optionally, the step of constructing an iterative function by using the model to be identified includes:
Based on the model to be identified, constructing an iteration function by utilizing a formula I;
The first formula is:
Wherein k is a natural number not less than 0, f k(Xk) is the model to be identified, X k is a positioning value corresponding to the kth iteration, Δx is the correction amount, f' k(Xk) is a jacobian function of f k(Xk), and X 0 is the initial positioning value.
Optionally, before the step of obtaining the spatial position information of the shaft to be identified in the robot corresponding to the plurality of test points, the method further includes:
controlling the robot to move to a preset initial position;
determining the shaft to be identified in a plurality of motion shafts;
Determining a plurality of test points based on the reduction ratio of the shaft to be identified;
controlling the shaft to be identified to move to a plurality of test points;
And acquiring a plurality of spatial position information of the shaft to be identified corresponding to the plurality of test points.
Optionally, the device is used for terminal equipment, the terminal equipment is connected with the acquisition equipment, and the robot is provided with a sensor; the step of collecting a plurality of spatial position information of the shaft to be identified corresponding to a plurality of test points comprises the following steps:
And controlling the acquisition equipment to acquire a plurality of pieces of spatial position information acquired by the sensor, wherein the plurality of pieces of spatial position information are acquired by acquiring the position information of the shaft to be identified when the shaft to be identified is positioned at a plurality of points to be tested by the sensor.
In addition, to achieve the above object, the present invention also proposes a terminal device including: the control method for the robot motor comprises a memory, a processor and a control program stored in the memory and running on the processor, wherein the control program for the robot motor realizes the steps of the control method for the robot motor according to any one of the above steps when being executed by the processor.
In addition, in order to achieve the above object, the present invention also proposes a computer-readable storage medium having stored thereon a control program of a robot motor, which when executed by a processor, implements the steps of the control method of a robot motor as set forth in any one of the above.
The technical scheme of the invention provides a control method of a robot motor, which comprises the following steps: acquiring a plurality of spatial position information of a shaft to be identified in the robot corresponding to a plurality of test points, wherein the shaft to be identified is at least one of a plurality of motion shafts in the robot; calculating a plurality of angle transmission errors corresponding to the shaft to be identified by utilizing the plurality of spatial position information; solving identification parameters of the shaft to be identified by utilizing a plurality of nominal joint angles, a plurality of angle transmission errors and a reduction ratio of the shaft to be identified, which correspond to a plurality of test points of the shaft to be identified; and constructing an angle transmission error model by using the identification parameters, and controlling a motor of the shaft to be identified of the robot by using the angle transmission error model.
In the existing method, the angle transmission error of a single motion axis is calibrated for the robot to obtain a final angle transmission error model, but the robot is provided with multiple motion axes, and the installation error exists after each motion axis is installed, and the installation error still exists in the angle transmission error by directly using the method of calibrating the single motion axis, so that the accuracy of angle transmission error calibration is lower, and the operation accuracy of the robot is still lower when the calibrated angle transmission error is used for control. In the invention, the whole robot with a plurality of motion axes is directly utilized to construct the angle transmission error model, so that the constructed angle transmission error model considers the installation error, and the accuracy of the angle transmission error model is higher, thereby improving the accuracy of robot control.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a terminal device structure of a hardware running environment according to an embodiment of the present invention;
FIG. 2 is a flow chart of a first embodiment of a control method of a robot motor according to the present invention;
FIG. 3 is a schematic diagram of an application scenario of a control method of a robot motor according to the present invention;
fig. 4 is a block diagram showing the structure of a first embodiment of the control device for the robot motor of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, fig. 1 is a schematic diagram of a terminal device structure of a hardware running environment according to an embodiment of the present invention.
The terminal device may be a Mobile phone, a smart phone, a notebook computer, a digital broadcast receiver, a Personal Digital Assistant (PDA), a tablet personal computer (PAD), or other User Equipment (UE), a handheld device, a vehicle mounted device, a wearable device, a computing device, or other processing device connected to a wireless modem, a Mobile Station (MS), or the like. The terminal device may be referred to as a user terminal, a portable terminal, a desktop terminal, etc.
In general, a terminal device includes: at least one processor 301, a memory 302 and a control program of a robot motor stored on said memory and executable on said processor, said control program of the robot motor being configured to implement the steps of the control method of the robot motor as described before.
Processor 301 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like. The processor 301 may be implemented in at least one hardware form of DSP (DIGITAL SIGNAL Processing), FPGA (Field-Programmable gate array), PLA (Programmable Logic Array ). Processor 301 may also include a main processor, which is a processor for processing data in an awake state, also referred to as a CPU (Central ProcessingUnit ), and a coprocessor; a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 301 may integrate a GPU (Graphics Processing Unit, image processor) for rendering and drawing of content required to be displayed by the display screen. The processor 301 may also include an AI (ARTIFICIAL INTELLIGENCE ) processor for handling control method operations with respect to the robot motor so that the control method model of the robot motor may be trained and learned autonomously, improving efficiency and accuracy.
Memory 302 may include one or more computer-readable storage media, which may be non-transitory. Memory 302 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 302 is used to store at least one instruction for execution by processor 301 to implement the method of controlling a robotic motor provided by the method embodiments of the present application.
In some embodiments, the terminal may further optionally include: a communication interface 303, and at least one peripheral device. The processor 301, the memory 302 and the communication interface 303 may be connected by a bus or signal lines. The respective peripheral devices may be connected to the communication interface 303 through a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of radio frequency circuitry 304, a display screen 305, and a power supply 306.
The communication interface 303 may be used to connect at least one peripheral device associated with an I/O (Input/Output) to the processor 301 and the memory 302. In some embodiments, processor 301, memory 302, and communication interface 303 are integrated on the same chip or circuit board; in some other embodiments, either or both of the processor 301, the memory 302, and the communication interface 303 may be implemented on separate chips or circuit boards, which is not limited in this embodiment.
The Radio Frequency circuit 304 is configured to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The radio frequency circuitry 304 communicates with a communication network and other communication devices via electromagnetic signals. The radio frequency circuit 304 converts an electrical signal into an electromagnetic signal for transmission, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 304 includes: antenna systems, RF transceivers, one or more amplifiers, tuners, oscillators, digital signal processors, codec chipsets, subscriber identity module cards, and so forth. The radio frequency circuitry 304 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocol includes, but is not limited to: metropolitan area networks, various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and/or WiFi (WIRELESS FIDELITY ) networks. In some embodiments, the radio frequency circuit 304 may further include NFC (NEAR FIELD Communication) related circuits, which is not limited by the present application.
The display screen 305 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display 305 is a touch screen, the display 305 also has the ability to collect touch signals at or above the surface of the display 305. The touch signal may be input as a control signal to the processor 301 for processing. At this point, the display 305 may also be used to provide virtual buttons and/or virtual keyboards, also referred to as soft buttons and/or soft keyboards. In some embodiments, the display 305 may be one, the front panel of an electronic device; in other embodiments, the display screen 305 may be at least two, respectively disposed on different surfaces of the electronic device or in a folded design; in still other embodiments, the display 305 may be a flexible display disposed on a curved surface or a folded surface of the electronic device. Even more, the display screen 305 may be arranged in an irregular pattern other than rectangular, i.e., a shaped screen. The display 305 may be made of LCD (LiquidCrystal Display ), OLED (Organic Light-Emitting Diode) or other materials.
The power supply 306 is used to power the various components in the electronic device. The power source 306 may be alternating current, direct current, disposable or rechargeable. When the power source 306 comprises a rechargeable battery, the rechargeable battery may support wired or wireless charging. The rechargeable battery may also be used to support fast charge technology. It will be appreciated by those skilled in the art that the structure shown in fig. 1 does not constitute a limitation of the terminal device, and may include more or less components than illustrated, or may combine certain components, or may be arranged in different components.
In addition, the embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium is stored with a control program of the robot motor, and the control program of the robot motor realizes the steps of the control method of the robot motor when being executed by a processor. Therefore, a detailed description will not be given here. In addition, the description of the beneficial effects of the same method is omitted. For technical details not disclosed in the embodiments of the computer-readable storage medium according to the present application, please refer to the description of the method embodiments of the present application. As an example, the program instructions may be deployed to be executed on one terminal device or on multiple terminal devices located at one site or on multiple terminal devices distributed across multiple sites and interconnected by a communication network.
Those skilled in the art will appreciate that implementing all or part of the above-described methods may be accomplished by way of computer programs, which may be stored on a computer-readable storage medium, and which, when executed, may comprise the steps of the embodiments of the methods described above. The computer readable storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random access Memory (Random AccessMemory, RAM), or the like.
Based on the above hardware structure, an embodiment of the control method of the robot motor of the present invention is presented.
Referring to fig. 2, fig. 2 is a flowchart of a first embodiment of a control method of a robot motor according to the present invention, the method being used for a terminal device, the method comprising the steps of:
step S11: and acquiring a plurality of spatial position information of an axis to be identified in the robot, wherein the spatial position information corresponds to a plurality of test points, and the axis to be identified is at least one of a plurality of motion axes in the robot.
The execution subject of the present invention is a terminal device, the terminal device is provided with a control program of a robot motor, and when the terminal device executes the control program of the robot motor, the terminal device realizes the steps of the control method of the robot motor of the present invention.
Referring to fig. 3, fig. 3 is a schematic diagram of an application scenario of a control method of a robot motor according to the present invention, and in fig. 3, a terminal device, an acquisition device 02, a sensor 03 corresponding to the acquisition device, and a robot 04 are shown, where in a general application, the robot includes a plurality of motion axes, and each motion axis can move-rotate relative to the other.
It can be understood that each motion axis of the robot is provided with a motor and a speed reducer, and the terminal equipment controls the speed reducer to move through the motor so as to realize the control of the motion axis.
Generally, for each motion axis, a recognition operation can be performed to obtain the final construction of the angle transmission error model of the motion axis, and when the angle transmission error models of all the motion axes are constructed, the robot realizes the recognition, and the motion of the whole robot is very accurate.
For at least one axis to be identified in the step, that is, at least one of a plurality of motion axes in the robot, generally, identification of one axis to be identified is performed at a time.
Further, before the step of obtaining the plurality of spatial position information of the shaft to be identified in the robot corresponding to the plurality of test points, the method further includes: controlling the robot to move to a preset initial position; determining the shaft to be identified in a plurality of motion shafts; determining a plurality of test points based on the reduction ratio of the shaft to be identified; controlling the shaft to be identified to move to a plurality of test points; and acquiring a plurality of spatial position information of the shaft to be identified corresponding to the plurality of test points.
The step of collecting a plurality of spatial position information of the shaft to be identified corresponding to a plurality of test points comprises the following steps: and controlling the acquisition equipment to acquire a plurality of pieces of spatial position information acquired by the sensor, wherein the plurality of pieces of spatial position information are acquired by acquiring the position information of the shaft to be identified when the shaft to be identified is positioned at a plurality of points to be tested by the sensor.
It can be understood that the preset initial position is a default position set by a user for the robot, and the preset initial position is that each motion axis in the robot moves to a corresponding preset initial position, that is, each motion axis corresponds to a preset initial position.
The user can determine the shaft to be identified based on the actual demand and the target, can determine the shaft to be identified through the number of the motion shaft, and controls the shaft to be identified by utilizing the number of the shaft to be identified. In specific application, a plurality of test points, for example, n test points, are determined by using the reduction ratio of the shaft to be identified, wherein n is a natural number greater than 1. The shaft to be identified moves to a test point, the sensor acquires corresponding spatial position information, and the terminal equipment controls the sensor to acquire the spatial position information; traversing all n test points by the shaft to be identified to obtain corresponding n pieces of spatial position information. The acquisition equipment can be a wire drawing sensor, a laser interferometer or the like.
In the embodiment, the acquisition equipment is not arranged at the joint of the motion axis of the robot, so that the installation and operation difficulty is reduced, and the efficiency of acquiring the space position information is improved.
Step S12: and calculating a plurality of angle transmission errors corresponding to the shafts to be identified by using the plurality of spatial position information.
And calculating the angle transmission error corresponding to the identification shaft at each test point position through the information of each spatial position, wherein one test point position corresponds to one angle transmission error.
Specifically, the step of calculating a plurality of angle transmission errors corresponding to the axis to be identified by using a plurality of spatial position information includes: calculating actual joint angle interval values among a plurality of actual joint angles corresponding to the shaft to be identified by using the plurality of spatial position information; calculating a plurality of nominal joint angle interval values corresponding to the axes to be identified by using a plurality of nominal joint angles; and calculating a plurality of angle transmission errors corresponding to the shaft to be identified by using the actual joint angle interval values and the nominal joint angle interval values.
Wherein, each test point corresponds to a nominal joint angle, which is a theoretical joint angle, and for a nominal joint angle means: when the axis to be identified does not take errors into consideration, the angle corresponding to one test point is determined, and therefore, the nominal joint angle is a known value.
The step of calculating the actual joint angle interval value between the actual joint angles corresponding to the axis to be identified by using the spatial position information includes: fitting operation is carried out on the plurality of space position information, and the rod length of the shaft to be identified is obtained; based on the plurality of spatial position information, obtaining a plurality of adjacent point distances corresponding to the shafts to be identified; calculating a plurality of actual joint angle interval values by using a plurality of adjacent point distances and the rod lengths.
It will be appreciated that for n spatial position information, there are generated (n-1) actual joint angle interval values, which refer to the joint angle variation values between two adjacent test points during actual operation, and (n-1) nominal joint angle interval values. The nominal joint angle interval value is a variation value of the nominal joint angle between two adjacent test points, namely a difference value of the nominal joint angle between the two adjacent test points.
For any one actual joint angle interval value, denoted as Δθ', any one nominal joint angle interval value is denoted as Δθ. For any test point, the actual joint angle corresponding to the test point is represented as θ' j, where j represents the j-th test point, and for one test point, the nominal joint angle corresponding to any test point is represented as θ j, and for one test point, the equation two is represented as follows:
θ′j＝θj+dθj
wherein dθ j is the angle-conveying error of the jth test point.
Further, the step of calculating a plurality of angle transmission errors corresponding to the axis to be identified by using a plurality of actual joint angle interval values and a plurality of nominal joint angle interval values includes: calculating a plurality of correlation differences by using a plurality of actual joint angle interval values and a plurality of nominal joint angle interval values; constructing an initial equation set by utilizing the related difference value and an angle incidence relation, wherein the angle incidence relation is a relation between an actual joint angle and a nominal joint angle; constructing a complementary equation by utilizing the preset function property of the sine function; constructing a result equation set by utilizing the supplementary equation and the initial equation set; and solving the result equation set to obtain a plurality of angle transmission errors corresponding to the shafts to be identified.
Wherein, the correlation difference dΔθ is expressed as a formula three, which is as follows:
dΔθ＝Δθ′-Δθ
It can be seen that the correlation difference is the difference between the actual joint angle interval value and the nominal joint angle interval value between two adjacent test points, and the correlation difference is a known quantity and is obtained according to the method.
Constructing an equation set, namely an initial equation set, by utilizing a formula II and a formula III, and constructing the initial equation set based on the following thought:
taking a first test point and a second test point as examples, explanation is made:
dΔθ1＝Δθ′1-Δθ1＝(θa2-θa1)-(θm2-θm1)
dΔθ1＝((θm2+dθ2)-(θm1+dθ1))-(θm2-θm1)
dΔθ1＝dθ2-dθ1
Wherein dDeltaθ 1 is a correlation difference value which is a difference value between an actual joint angle interval value of the second test point and the first test point and the nominal angle interval value; delta theta' 1 is the actual joint angle interval value between the second test point and the first test point, the actual joint angle theta a2 of the second test point is obtained by using the difference between the actual joint angle theta a1 of the first test point, delta theta 1 is the nominal joint angle interval value between the second test point and the first test point, and the nominal joint angle theta m2 of the second test point is obtained by using the difference between the nominal joint angle theta m1 of the first test point.
Similarly, for n test points, equation set four is as follows:
Here, there are only (n-1) equations, but to solve n variables (dθ 1,dθ2,…,dθn), one additional equation is needed, and since the angle transmission error is superposition of sine functions, some characteristics of the sine functions (which refer to preset function properties of the sine functions, which may be periodicity, symmetry, etc.) may be utilized to construct an equation, namely a complementary equation, at this time, a result equation set with n equations may be obtained, i.e. the result equation set may be solved, and the angle transmission error (dθ 1,dθ2,…,dθn) at each test point may be obtained.
Step S13: and solving the identification parameters of the shaft to be identified by utilizing a plurality of nominal joint angles, a plurality of angle transmission errors and the reduction ratio of the shaft to be identified, which correspond to a plurality of test points of the shaft to be identified.
Specifically, the step of solving the identification parameters of the shaft to be identified by using a plurality of nominal joint angles, a plurality of angle transmission errors and a reduction ratio of the shaft to be identified, which correspond to a plurality of test points of the shaft to be identified, includes: constructing a model to be identified by using a plurality of nominal joint angles, a plurality of angle transmission errors, the reduction ratio and a preset angle transmission error representation model; constructing an iteration function by using the model to be identified, wherein the output of the iteration function is a correction quantity; creating an initial positioning value of the model to be identified; substituting the initial positioning value into the iterative function to perform iterative operation until the correction quantity output by the iterative function meets a preset condition, so as to obtain a final positioning value; and obtaining the identification parameters of the shaft to be identified based on the final positioning value.
The error representation model is conveyed for a preset angle as follows:
Wherein, theta m represents the nominal angle of the motor end, the nominal joint angle theta j, the relation between the nominal joint angle theta j and the nominal joint angle theta m＝jratio*θj, and jratio represents the reduction ratio; i represents i times frequency, A i, The magnitude and phase angle of the i-multiple are represented, respectively. It will be appreciated that at present, A i and/>, in an angle-conveying error modelIs to obtain the identification parameters A i and A i I.e., A i and/>Is the amount that needs to be solved.
In the present invention, the process of obtaining the identification parameters is described using newton's iteration method, taking 2, 4 frequency multiplication components of the identification angle transmission error as an example.
Parameters to be identified (identification parameters of specific values not found): a 2 of the total number of the components,A4，/>The number of the variables is 4, and p=4; the known parameters are: the nominal joint angles θ j1,θj2,…,θjn and corresponding angles of the n test points communicate errors (dθ 1,dθ2,…,dθn) at the reduction ratio jratio. Constructing a model to be identified, wherein the model to be identified is expressed as a formula five, and the formula five is as follows:
For convenience of representation, let The function is denoted as f k(X),fk (X) jacobian and f' k (X), which is a 1 xp dimensional matrix, where an iterative function is constructed, the iterative function being of formula one:
Wherein k is a natural number not less than 0, f k(Xk) is the model to be identified, X k is a positioning value corresponding to the kth iteration, Δx is the correction amount, f' k(Xk) is a jacobian function of f k(Xk), and X 0 is the initial positioning value. Each iteration finds one Δx, and then X '=x+Δx, X' for the next iteration is the input for the next iteration. For the iteration starting process, the initial positioning value is X 0, based on amplitude and phase determination, X 0 is substituted into formula one, then q iterations are performed (the iteration number q is selected according to the iteration precision requirement) until the obtained DeltaX meets the preset condition (DeltaX is close to 0), a final positioning value X q is obtained, then the final positioning value X q is utilized, and the final identification parameter is obtained by utilizing formula five, wherein the formula five is as follows:
in general, the frequency multiplication components can be selected according to the needs, and the invention includes 1, 2 and 4 frequency multiplication, etc., and the combination of any of the above components is possible, and the situation of non-integer frequency multiplication is also possible, which is the protection of the invention.
Further, the angle-conveying error model is described as a superposition of sine functions, but also as a superposition of other trigonometric functions, and is equivalent to the model in the invention.
Step S14: and constructing an angle transmission error model by using the identification parameters, and controlling a motor of a shaft to be identified of the robot by using the angle transmission error model.
After obtaining the identification parameters, the obtained identification parameters (known as A i and) Substituting the preset angle transmission error representation model to obtain the preset angle transmission error representation model with known identification parameters, wherein the preset angle transmission error representation model can be directly used for controlling the motor of the shaft to be identified of the robot.
It will be appreciated that the method of the present invention consists in using a plurality of spatial location information of a plurality of test points to determine an angle-dependent error model for which the last identified parameter is known.
The technical scheme of the invention provides a control method of a robot motor, which comprises the following steps: acquiring a plurality of spatial position information of a shaft to be identified in the robot corresponding to a plurality of test points, wherein the shaft to be identified is at least one of a plurality of motion shafts in the robot; calculating a plurality of angle transmission errors corresponding to the shaft to be identified by utilizing the plurality of spatial position information; solving identification parameters of the shaft to be identified by utilizing a plurality of nominal joint angles, a plurality of angle transmission errors and a reduction ratio of the shaft to be identified, which correspond to a plurality of test points of the shaft to be identified; and constructing an angle transmission error model by using the identification parameters, and controlling a motor of the shaft to be identified of the robot by using the angle transmission error model.
The technical scheme of the invention provides a control method of a robot motor, which comprises the following steps: acquiring a plurality of spatial position information of a shaft to be identified in the robot corresponding to a plurality of test points, wherein the shaft to be identified is at least one of a plurality of motion shafts in the robot; calculating a plurality of angle transmission errors corresponding to the shaft to be identified by utilizing the plurality of spatial position information; solving identification parameters of the shaft to be identified by utilizing a plurality of nominal joint angles, a plurality of angle transmission errors and a reduction ratio of the shaft to be identified, which correspond to a plurality of test points of the shaft to be identified; and constructing an angle transmission error model by using the identification parameters, and controlling a motor of the shaft to be identified of the robot by using the angle transmission error model.
In the existing method, the angle transmission error of a single motion axis is calibrated for the robot to obtain a final angle transmission error model, but the robot is provided with multiple motion axes, and the installation error exists after each motion axis is installed, and the installation error still exists in the angle transmission error by directly using the method of calibrating the single motion axis, so that the accuracy of angle transmission error calibration is lower, and the operation accuracy of the robot is still lower when the calibrated angle transmission error is used for control. In the invention, the whole robot with a plurality of motion axes is directly utilized to construct the angle transmission error model, so that the constructed angle transmission error model considers the installation error, and the accuracy of the angle transmission error model is higher, thereby improving the accuracy of robot control.
Referring to fig. 4, fig. 4 is a block diagram showing a first embodiment of a control apparatus for a robot motor for a terminal device according to the present invention, based on the same inventive concept as the previous embodiment, including:
An obtaining module 10, configured to obtain a plurality of spatial position information corresponding to a shaft to be identified in a robot at a plurality of test points, where the shaft to be identified is at least one of a plurality of motion axes in the robot;
a calculating module 20, configured to calculate a plurality of angle transmission errors corresponding to the axis to be identified using a plurality of the spatial position information;
The solving module 30 is configured to solve the identification parameter of the shaft to be identified by using a plurality of nominal joint angles corresponding to the shaft to be identified at a plurality of test points, a plurality of angle transmission errors, and a reduction ratio of the shaft to be identified;
and the control module 40 is used for constructing an angle transmission error model by utilizing the identification parameters and controlling the motor of the shaft to be identified of the robot by utilizing the angle transmission error model.
It should be noted that, since the steps executed by the apparatus of this embodiment are the same as those of the foregoing method embodiment, specific implementation manners and technical effects that can be achieved of the apparatus of this embodiment may refer to the foregoing embodiment, and will not be repeated herein.
The foregoing description is only of the optional embodiments of the present invention, and is not intended to limit the scope of the invention, and all the equivalent structural changes made by the description of the present invention and the accompanying drawings or the direct/indirect application in other related technical fields are included in the scope of the invention.
Claims (7)
1. A method of controlling a robot motor, the method comprising the steps of:
Acquiring a plurality of pieces of spatial position information of a shaft to be identified in a robot, wherein the spatial position information corresponds to a plurality of test points, and the shaft to be identified is at least one of a plurality of movement shafts in the robot;
calculating a plurality of angle transmission errors corresponding to the shafts to be identified by using the plurality of spatial position information;
solving identification parameters of the shaft to be identified by utilizing a plurality of nominal joint angles, a plurality of angle transmission errors and a reduction ratio of the shaft to be identified, which correspond to a plurality of test points of the shaft to be identified;
constructing an angle transmission error model by using the identification parameters, and controlling a motor of a shaft to be identified of the robot by using the angle transmission error model;
the step of calculating a plurality of angle transmission errors corresponding to the axes to be identified by using a plurality of spatial position information comprises the following steps:
calculating actual joint angle interval values among a plurality of actual joint angles corresponding to the shaft to be identified by using the plurality of spatial position information;
calculating a plurality of nominal joint angle interval values corresponding to the axes to be identified by using a plurality of nominal joint angles;
calculating a plurality of angle transmission errors corresponding to the shaft to be identified by using a plurality of actual joint angle interval values and a plurality of nominal joint angle interval values;
The step of calculating a plurality of angle transmission errors corresponding to the axis to be identified by using a plurality of actual joint angle interval values and a plurality of nominal joint angle interval values comprises the following steps:
calculating a plurality of correlation differences by using a plurality of actual joint angle interval values and a plurality of nominal joint angle interval values;
Constructing an initial equation set by utilizing the related difference value and an angle incidence relation, wherein the angle incidence relation is a relation between an actual joint angle and a nominal joint angle;
constructing a complementary equation by utilizing the preset function property of the sine function;
Constructing a result equation set by utilizing the supplementary equation and the initial equation set;
solving the result equation set to obtain a plurality of angle transmission errors corresponding to the shafts to be identified;
The step of solving the identification parameters of the shaft to be identified by utilizing a plurality of nominal joint angles, a plurality of angle transmission errors and a reduction ratio of the shaft to be identified, which correspond to a plurality of test points, of the shaft to be identified comprises the following steps:
Constructing a model to be identified by using a plurality of nominal joint angles, a plurality of angle transmission errors, the reduction ratio and a preset angle transmission error representation model;
constructing an iteration function by using the model to be identified, wherein the output of the iteration function is a correction quantity;
Creating an initial positioning value of the model to be identified;
substituting the initial positioning value into the iterative function to perform iterative operation until the correction quantity output by the iterative function meets a preset condition, so as to obtain a final positioning value;
And obtaining the identification parameters of the shaft to be identified based on the final positioning value.
2. The method of claim 1, wherein the step of calculating the actual joint angle interval value between the plurality of actual joint angles corresponding to the axis to be recognized using the plurality of spatial position information comprises:
Fitting operation is carried out on the plurality of space position information, and the rod length of the shaft to be identified is obtained;
based on the plurality of spatial position information, obtaining a plurality of adjacent point distances corresponding to the shafts to be identified;
calculating a plurality of actual joint angle interval values by using a plurality of adjacent point distances and the rod lengths.
3. The method of claim 1, wherein the step of constructing an iterative function using the model to be identified comprises:
Based on the model to be identified, constructing an iteration function by utilizing a formula I;
The first formula is:
wherein k is a natural number not less than 0, For the model to be identified,/>For the correction amount,/>Is thatJacobian function of A 2,/>A 4 and/>All are parameters to be identified.
4. The method of claim 1, wherein before the step of obtaining a plurality of spatial position information of the axis to be identified in the robot corresponding to the plurality of test points, the method further comprises:
controlling the robot to move to a preset initial position;
determining the shaft to be identified in a plurality of motion shafts;
Determining a plurality of test points based on the reduction ratio of the shaft to be identified;
controlling the shaft to be identified to move to a plurality of test points;
And acquiring a plurality of spatial position information of the shaft to be identified corresponding to the plurality of test points.
5. The method according to claim 4, for a terminal device connected to an acquisition device, the robot being provided with a sensor; the step of collecting a plurality of spatial position information of the shaft to be identified corresponding to a plurality of test points comprises the following steps:
and controlling the acquisition equipment to acquire a plurality of pieces of spatial position information acquired by the sensor, wherein the plurality of pieces of spatial position information are acquired by acquiring the position information of the shaft to be identified when the shaft to be identified is positioned at a plurality of test points by the sensor.
6. A terminal device, characterized in that the terminal device comprises: a memory, a processor and a control program stored on the memory and running on the processor for the robot motor, which control program, when executed by the processor, realizes the steps of the control method for the robot motor according to any one of claims 1 to 5.
7. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a control program of a robot motor, which when executed by a processor, implements the steps of the control method of a robot motor according to any one of claims 1 to 5.
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| US10932772B2 (en) * | 2017-06-29 | 2021-03-02 | Ethicon Llc | Methods for closed loop velocity control for robotic surgical instrument |
| CN110370271B (en) * | 2019-04-30 | 2020-09-25 | 杭州亿恒科技有限公司 | Joint transmission ratio error calibration method of industrial series robot |
| CN112105484B (en) * | 2019-05-24 | 2023-05-05 | 深圳配天智能技术研究院有限公司 | Robot kinematics parameter self-calibration method, system and storage device |
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