CN114800503A - Multi-joint robot motion control method and device, electronic equipment and storage medium - Google Patents
Multi-joint robot motion control method and device, electronic equipment and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B25J9/1641—Programme controls characterised by the control loop compensation for backlash, friction, compliance, elasticity in the joints
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Abstract
The application provides a multi-joint robot motion control method and device, electronic equipment and a storage medium, and relates to the technical field of robots. The method comprises the following steps: acquiring the motion direction of a target joint in the multi-joint robot; determining a target joint clearance compensation value corresponding to a target joint according to the motion direction of the target joint and a preset compensation table, wherein the preset compensation table comprises a joint clearance compensation value corresponding to the target joint when preset torque is applied to the target joint; according to the target joint clearance compensation value corresponding to the target joint and the reference motion position of the target joint, the target joint is subjected to tracking control, the track control error of the multi-joint robot can be reduced from the joint layer, and then when the target joint is subjected to tracking control, accurate control can be achieved.
Description
Technical Field
The present disclosure relates to the field of robotics, and in particular, to a method and an apparatus for controlling a motion of a multi-joint robot, an electronic device, and a storage medium.
Background
The joint robot, also called joint mechanical arm or multi-joint robot, the motion of each joint is rotation, similar to the arm of human, and the joint robot is one of the most common forms of industrial robots in the present industrial field, and is suitable for mechanical automation operation in various industrial fields, such as automatic assembly, painting, transportation, welding, and the like.
Conventionally, when controlling a joint robot, feedback control is generally performed according to a joint position fed back by the joint robot and a preset planned position.
It can be seen that the existing control method for the joint robot is relatively simple, so that the problem that the track tracking control error of the joint in the robot is large exists.
Disclosure of Invention
In view of the above-mentioned shortcomings in the prior art, an object of the present invention is to provide a method and an apparatus for controlling a motion of an articulated robot, an electronic device, and a storage medium, which can reduce a trajectory control error of the articulated robot.
In order to achieve the above purpose, the technical solutions adopted in the embodiments of the present application are as follows:
in a first aspect, the present invention provides a method for controlling the motion of a multi-joint robot, comprising:
acquiring the motion direction of a target joint in the multi-joint robot;
determining a target joint clearance compensation value corresponding to a target joint according to the motion direction of the target joint and a preset compensation table, wherein the preset compensation table comprises the joint clearance compensation value corresponding to the target joint when preset torque is applied to the target joint;
and tracking and controlling the target joint according to the target joint clearance compensation value corresponding to the target joint and the reference motion position of the target joint.
In an optional embodiment, the preset compensation table further includes a joint elastic coefficient corresponding to the target joint when a preset torque set is applied to the target joint;
the tracking control of the target joint according to the target joint clearance compensation value corresponding to the target joint and the reference motion position of the target joint comprises the following steps:
determining a target joint elastic coefficient corresponding to the target joint according to the preset compensation table;
and tracking and controlling the target joint according to the target joint clearance compensation value corresponding to the target joint, the target joint elasticity coefficient and the reference motion position of the target joint.
In an optional embodiment, the tracking control of the target joint according to the target joint clearance compensation value corresponding to the target joint, the target joint elastic coefficient, and the reference motion position of the target joint includes:
acquiring the joint force expected to be output by the target joint according to an inverse kinematics algorithm;
calculating a target joint elasticity compensation value according to the target joint elasticity coefficient and the joint force expected to be output by the target joint;
and tracking and controlling the target joint according to the target joint clearance compensation value corresponding to the target joint, the target joint elasticity compensation value and the reference motion position of the target joint.
In an optional embodiment, before determining a target joint clearance compensation value corresponding to a target joint according to the motion direction of the target joint and a preset compensation table, the method further includes:
generating a torque application command in response to an acquisition request of a preset compensation table;
according to the torque application instruction, applying a target torque to the target joint, and respectively obtaining a joint clearance compensation value and a joint elastic coefficient corresponding to the target joint;
and generating the preset compensation table according to the joint clearance compensation value and the joint elasticity coefficient corresponding to the target joint.
In an optional embodiment, applying a target torque to the target joint according to the torque application command, and acquiring a joint clearance compensation value corresponding to the target joint includes:
according to a first torque application instruction, respectively applying a first preset torque and a second preset torque to the target joint, wherein the first preset torque and the second preset torque are opposite in direction and same in size;
respectively acquiring a first joint position corresponding to the target joint when the first preset torque is applied and a second joint position corresponding to the target joint when the second preset torque is applied;
and calculating a joint clearance compensation value corresponding to the target joint according to the first joint position and the second joint position.
In an alternative embodiment, the calculating a joint clearance compensation value corresponding to the target joint according to the first joint position and the second joint position includes:
and calculating a position difference between the first joint position and the second joint position, and taking the position difference as a joint clearance compensation value corresponding to the target joint.
In an optional embodiment, applying a target torque to the target joint according to the torque application command, and acquiring a joint elastic coefficient corresponding to the target joint includes:
applying a preset torque set to the target joint according to a second torque application instruction, wherein the preset torque set comprises a plurality of third torques;
respectively acquiring a third joint position corresponding to the target joint when each third torque is applied;
calculating control errors of all joints according to the positions of all the third joints and the reference motion position of the target joint;
and acquiring a joint elastic coefficient corresponding to the target joint according to each joint control error and each third torque.
In a second aspect, the present invention provides a multi-joint robot motion control device including:
the acquisition module is used for acquiring the motion direction of a target joint in the multi-joint robot;
the determining module is used for determining a target joint clearance compensation value corresponding to a target joint according to the motion direction of the target joint and a preset compensation table, wherein the preset compensation table comprises the joint clearance compensation value corresponding to the target joint when a preset torque is applied to the target joint;
and the control module is used for tracking and controlling the target joint according to the target joint clearance compensation value corresponding to the target joint and the reference motion position of the target joint.
In an optional embodiment, the preset compensation table further includes a joint elastic coefficient corresponding to the target joint when a preset torque set is applied to the target joint; the control module is specifically used for determining a target joint elastic coefficient corresponding to the target joint according to the preset compensation table;
and tracking and controlling the target joint according to the target joint clearance compensation value corresponding to the target joint, the target joint elasticity coefficient and the reference motion position of the target joint.
In an alternative embodiment, the control module is specifically configured to obtain the joint force expected to be output by the target joint according to an inverse kinematics algorithm;
calculating a target joint elasticity compensation value according to the target joint elasticity coefficient and the joint force expected to be output by the target joint;
and tracking and controlling the target joint according to the target joint clearance compensation value corresponding to the target joint, the target joint elasticity compensation value and the reference motion position of the target joint.
In an alternative embodiment, the determining module is further configured to generate a torque application command in response to a request for obtaining a preset compensation table;
according to the torque application instruction, applying a target torque to the target joint, and respectively obtaining a joint clearance compensation value and a joint elastic coefficient corresponding to the target joint;
and generating the preset compensation table according to the joint clearance compensation value and the joint elasticity coefficient corresponding to the target joint.
In an optional embodiment, the determining module is specifically configured to apply a first preset torque and a second preset torque to the target joint according to a first torque application instruction, where the first preset torque and the second preset torque are opposite in direction and the same in magnitude;
respectively acquiring a first joint position corresponding to the target joint when the first preset torque is applied and a second joint position corresponding to the target joint when the second preset torque is applied;
and calculating a joint clearance compensation value corresponding to the target joint according to the first joint position and the second joint position.
In an alternative embodiment, the determining module is specifically configured to calculate a position difference between the first joint position and the second joint position, and use the position difference as a joint gap compensation value corresponding to the target joint.
In an alternative embodiment, the determining module is specifically configured to apply a preset torque set to the target joint according to a second torque application instruction, where the preset torque set includes a plurality of third torques;
respectively acquiring a third joint position corresponding to the target joint when each third torque is applied;
calculating control errors of all joints according to the positions of all the third joints and the reference motion position of the target joint;
and acquiring a joint elastic coefficient corresponding to the target joint according to each joint control error and each third torque.
In a third aspect, the present invention provides an electronic device comprising: a processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor, when an electronic device runs, the processor and the storage medium communicate through the bus, and the processor executes the machine-readable instructions to execute the steps of the multi-joint robot motion control method according to any one of the previous embodiments.
In a fourth aspect, the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the multi-joint robot motion control method according to any of the preceding embodiments.
The beneficial effect of this application is:
in the multi-joint robot motion control method, device, electronic equipment and storage medium provided by the embodiment of the application, the motion direction of a target joint in the multi-joint robot is obtained; determining a target joint clearance compensation value corresponding to a target joint according to the motion direction of the target joint and a preset compensation table, wherein the preset compensation table comprises a joint clearance compensation value corresponding to the target joint when preset torque is applied to the target joint; according to the target joint clearance compensation value corresponding to the target joint and the reference motion position of the target joint, the target joint is subjected to tracking control, the track control error of the multi-joint robot can be reduced from the joint layer, and then when the target joint is subjected to tracking control, accurate control can be achieved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic flowchart of a method for controlling a motion of a multi-joint robot according to an embodiment of the present disclosure;
fig. 2 is a schematic flow chart of another multi-joint robot motion control method provided in the embodiment of the present application;
fig. 3 is a schematic flowchart of another multi-joint robot motion control method provided in an embodiment of the present application;
fig. 4 is a schematic flowchart of another multi-joint robot motion control method provided in the embodiment of the present application;
fig. 5 is a schematic flowchart of another multi-joint robot motion control method provided in the embodiment of the present application;
fig. 6 is a schematic flow chart of another multi-joint robot motion control method according to an embodiment of the present disclosure;
fig. 7 is a functional block diagram of a multi-joint robot motion control apparatus according to an embodiment of the present disclosure;
fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, as generally described and illustrated in the figures herein, could be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the prior art, when a joint robot is controlled, the joint robot is generally subjected to feedback control according to a preset planning position of a joint and a joint position fed back in a control process, so that the existing control method for the joint robot is simpler and has the problem of larger track tracking control error of the joint.
In view of this, embodiments of the present application provide a method for controlling a motion of a multi-joint robot, and with the method, a trajectory tracking control error of the multi-joint robot may be reduced.
Fig. 1 is a schematic flowchart of a method for controlling a motion of an articulated robot according to an embodiment of the present disclosure, where an execution subject of the method may be the articulated robot, and may specifically be a controller in the articulated robot. As shown in fig. 1, the method may include:
s101, obtaining the motion direction of a target joint in the multi-joint robot.
Alternatively, the articulated robot may be a robot applied to industrial fields such as painting, transportation, welding, and the like; the target joint may be any joint in a multi-joint robot, for example, a knee joint, a thigh joint, an ankle joint, an elbow joint, and the like, which is not limited herein.
In some embodiments, the motion direction of the target joint may be acquired through a trajectory planning route corresponding to the target joint, and of course, may also be acquired through a joint angle sensor, which is not limited herein. The motion direction of the target joint can be forward rotation or reverse rotation.
S102, determining a target joint clearance compensation value corresponding to the target joint according to the motion direction of the target joint and a preset compensation table, wherein the preset compensation table comprises the joint clearance compensation value corresponding to the target joint when preset torque is applied to the target joint.
It can be seen that the joint clearance compensation value corresponding to the target joint can be obtained through the preset compensation table, and the joint clearance value corresponding to the target joint can represent the position difference of the target joint deviating from the preset position when the preset torque is applied to the target joint, where the preset position may be a default position corresponding to the target joint when the multi-joint robot is in the initial state, or may be other positions, which is not limited herein.
The joint clearance compensation direction can be determined according to the motion direction of the target joint, and if the motion direction of the target joint is positive rotation, the joint clearance compensation direction can be determined to be positive compensation, namely the target joint clearance compensation value corresponding to the target joint is positive; otherwise, if the motion direction of the target joint is reverse, it may be determined that the joint clearance compensation direction is reverse compensation, that is, the target joint clearance compensation value corresponding to the target joint is negative.
S103, tracking and controlling the target joint according to the target joint clearance compensation value corresponding to the target joint and the reference motion position of the target joint.
The reference motion position of the target joint may be obtained through a trajectory planning route corresponding to the target joint, and certainly, in some embodiments, the reference motion position may also be obtained through a joint position sensor, which is not limited herein.
Based on the above description, after the target joint clearance compensation value corresponding to the target joint is determined, the reference motion position of the target joint may be compensated according to the joint clearance compensation value corresponding to the target joint, and the target joint position corresponding to the compensated target joint is obtained, so that the track control error of the multi-joint robot may be reduced from the joint layer, and when the target joint is further controlled according to the target joint position, the accurate tracking control of the target joint may be achieved.
In summary, an embodiment of the present application provides a method for controlling a motion of a multi-joint robot, where the method includes: acquiring the motion direction of a target joint in the multi-joint robot; determining a target joint clearance compensation value corresponding to a target joint according to the motion direction of the target joint and a preset compensation table, wherein the preset compensation table comprises a joint clearance compensation value corresponding to the target joint when preset torque is applied to the target joint; according to the target joint clearance compensation value corresponding to the target joint and the reference motion position of the target joint, the target joint is subjected to tracking control, the track control error of the multi-joint robot can be reduced from the joint layer, and then when the target joint is subjected to tracking control, accurate control can be achieved.
Fig. 2 is a schematic flow chart of another method for controlling the motion of a multi-joint robot according to an embodiment of the present disclosure. Optionally, the preset compensation table may further include a joint elastic coefficient corresponding to the target joint when the preset torque set is applied to the target joint, where the preset torque set may include a plurality of torques, the plurality of torques may include a plurality of positive torques and a plurality of negative torques, and the joint elastic coefficient corresponding to the target joint may represent a relationship between the preset torque set and a target joint control error when the preset torque set is applied to the target joint, where the target joint control error may represent a position difference deviating from a preset position when the preset torque set is applied to the target joint, and the description of the preset position may refer to the relevant part, which is not described herein again.
Based on the foregoing embodiment, as shown in fig. 2, the step of performing tracking control on the target joint according to the target joint gap compensation value corresponding to the target joint and the reference motion position of the target joint may include:
s201, determining a target joint elastic coefficient corresponding to a target joint according to a preset compensation table.
S202, tracking and controlling the target joint according to the target joint clearance compensation value corresponding to the target joint, the target joint elasticity coefficient and the reference motion position of the target joint.
Based on the description of the preset compensation table, it can be seen that the target joint elastic coefficient corresponding to the target joint can be obtained through the preset compensation table, and then multi-dimensional compensation can be performed on the reference motion position of the target joint according to the target joint elastic coefficient and the target joint clearance compensation value, so that the track control error of the multi-joint robot can be reduced from the joint layer in a multi-dimensional manner, and further accurate tracking control of the target joint can be realized when the target joint is further controlled according to the target joint position.
It should be noted that, specifically, when performing compensation, the present application does not limit the sequence of compensation, that is, the reference motion position of the target joint may be compensated according to the joint clearance compensation value corresponding to the target joint, and then further compensated according to the elastic coefficient of the target joint; or the reference motion position of the target joint can be compensated according to the elastic coefficient of the target joint corresponding to the target joint, and then the compensation is further performed according to the joint clearance compensation value corresponding to the target joint, and the compensation sequence can be flexibly selected according to the actual application scene.
Fig. 3 is a schematic flowchart of another multi-joint robot motion control method according to an embodiment of the present disclosure. Optionally, as shown in fig. 3, the performing tracking control on the target joint according to the target joint clearance compensation value corresponding to the target joint, the target joint elastic coefficient, and the reference motion position of the target joint includes:
and S301, acquiring the joint force expected to be output by the target joint according to an inverse kinematics algorithm.
The inverse kinematics algorithm is an algorithm for solving the angle of each joint according to the poses of the trunk and the feet of the robot. In some embodiments, the joint force expected to be output by the target joint may be obtained based on an inverse kinematics algorithm, wherein the joint force expected to be output by the target joint may be a vector.
And S302, calculating a target joint elasticity compensation value according to the target joint elasticity coefficient and the joint force expected to be output by the target joint.
In some embodiments, the target joint elasticity compensation value may be determined by calculating a ratio between the joint force expected to be output by the target joint and the target joint elasticity coefficient, i.e. let k be the target joint elasticity coefficient and f be the joint force expected to be output by the target joint ref Then the target joint elasticity compensation value theta spring Can be expressed as
Based on the formula, it can be seen that when the joint forces expected to be output by the target joint are different, different target joint elasticity compensation values are obtained.
And S303, tracking and controlling the target joint according to the target joint clearance compensation value and the target joint elasticity compensation value corresponding to the target joint and the reference motion position of the target joint.
Based on the above description, after the target joint elasticity compensation value is obtained, the reference motion position of the target joint may be subjected to position compensation according to the target joint clearance compensation value and the target joint elasticity compensation value corresponding to the target joint, so as to obtain a target joint position corresponding to the compensated target joint, and then, according to the target joint position, accurate tracking control on the target joint may be implemented.
Alternatively, the specific compensation method may refer to the following formula, wherein if a target joint clearance compensation value corresponding to the target joint is determined according to the motion direction of the target joint and the reference motion position of the target joint needs to be positively compensated, the target joint position θ corresponding to the compensated target joint is determined according to the motion direction of the target joint cmd May be expressed as theta cmd ＝θ ref +θ gap +θ spring Wherein, theta ref Representing a reference motion position of the target joint; theta gap A target joint clearance compensation value corresponding to the target joint is represented; theta spring Representing the target joint elasticity compensation value. Based on the above description, it can be understood that, in the real-time control process, the controller of the articulated robot may then calculate the target joint position θ according to the calculated target joint position cmd Controlling the motion of the target joint.
Fig. 4 is a schematic flowchart of another method for controlling the motion of a multi-joint robot according to an embodiment of the present disclosure. Optionally, as shown in fig. 4, before determining the target joint clearance compensation value corresponding to the target joint according to the motion direction of the target joint and the preset compensation table, the method further includes:
s401, responding to the acquisition request of the preset compensation table, and generating a torque application command.
S402, applying a target torque to the target joint according to the torque application command, and respectively obtaining a joint clearance compensation value and a joint elasticity coefficient corresponding to the target joint.
And S403, generating a preset compensation table according to the joint clearance compensation value and the joint elasticity coefficient corresponding to the target joint.
Alternatively, the articulated robot may generate an acquisition request of a preset compensation table according to a work request of a user, and may generate a torque application instruction in response to the acquisition request of the preset compensation table; according to the torque application instruction, the multi-joint robot can control the target joint to perform position holding control at the reference movement position and apply the target torque to the target joint by applying the target torque to acquire the joint clearance compensation value and the joint elastic coefficient corresponding to the target joint, respectively.
The work request may be used to request the articulated robot to perform a painting work, a carrying work, a welding work, and the like, but is not limited thereto. In some embodiments, when the target torque is applied to the target joint, the joint robot may apply the target torque to the target joint through its own motor, or the joint robot may be communicatively connected to an external device, and apply the target torque to the target joint through the external device, and optionally, the external device may be a motor drag test stand, or another device having the same or similar function as the motor drag test stand, which is not limited herein.
Of course, it should be noted that the preset compensation table may further include joint clearance compensation values and joint elasticity coefficients corresponding to other joints in the multi-joint robot, and the acquisition of the joint clearance compensation values and the joint elasticity coefficients corresponding to other joints may refer to the acquisition process of the joint clearance compensation values and the joint elasticity coefficients corresponding to the target joint, which is not described herein again.
Fig. 5 is a schematic flowchart of another multi-joint robot motion control method according to an embodiment of the present disclosure. Optionally, as shown in fig. 5, the applying a target torque to a target joint according to the torque application command to obtain a joint clearance compensation value corresponding to the target joint includes:
s501, according to the first torque application instruction, a first preset torque and a second preset torque are respectively applied to the target joint.
The first preset torque and the second preset torque are opposite in direction and same in magnitude. That is, if the first predetermined torque is a torque in a positive direction, the second predetermined torque may be a torque having the same magnitude and an opposite direction to the first predetermined torque, that is, the second predetermined torque may be a torque in a negative direction. For example, the first preset torque may be 0.1Nm, and then the second preset torque may be-0.1 Nm, and of course, the specific value is not limited thereto, and may be flexibly set according to the actual application scenario.
In some embodiments, the first torque application instruction may include a magnitude and a direction of any one of the first preset torque and the second preset torque, and based on the above description, it may be understood that if the magnitude and the direction of any one of the first preset torque and the second preset torque are known, the magnitude and the direction of the other preset torque may be determined according to a relationship therebetween, and the first preset torque and the second preset torque may be applied to the target joint, respectively. For example, a first preset torque may be applied to the target joint and then a second preset torque may be applied to the target joint, respectively.
S502, respectively obtaining a first joint position corresponding to the target joint when the first preset torque is applied and a second joint position corresponding to the target joint when the second preset torque is applied.
Based on the above description, when the first preset torque and the second preset torque are applied to the target joint, the first joint position corresponding to the target joint when the first preset torque is applied and the second joint position corresponding to the target joint when the second preset torque is applied may be obtained, respectively. Optionally, in specific acquisition, the acquisition may be acquired by a joint position sensor corresponding to the target joint, which is not limited herein.
And S503, calculating a joint clearance compensation value corresponding to the target joint according to the first joint position and the second joint position.
The joint clearance compensation value corresponding to the target joint may be determined by calculating a position difference between the first joint position and the second joint position, that is, the position difference between the first joint position and the second joint position may be used as the joint clearance compensation value corresponding to the target joint.
Based on the above description, the relationship between the joint clearance compensation value corresponding to the target joint and the target joint clearance compensation value corresponding to the target joint may be expressed as the following equation:
wherein, theta gap A target joint clearance compensation value corresponding to the target joint is represented,
representing the reference movement speed, Delta theta, of the target joint gap And represents the joint clearance compensation value corresponding to the target joint. As can be seen from this equation, by
The operation may then determine the direction of motion of the target joint.
Fig. 6 is a schematic flowchart of another method for controlling the motion of a multi-joint robot according to an embodiment of the present disclosure. Alternatively, as shown in fig. 6, the step of applying the target torque to the target joint according to the torque application command to obtain the joint elastic coefficient corresponding to the target joint may include:
s601, according to the second torque application instruction, applying a preset torque set to the target joint, wherein the preset torque set comprises a plurality of third torques.
Wherein, the plurality of third torques may include a plurality of positive torques and a plurality of negative torques, and the magnitude of the partial positive torque and the magnitude of the partial negative torque may be the same. For example, the plurality of third torques may include: -5Nm, -4.5Nm, -4Nm, …, 4Nm, 4.5Nm, 5Nm, that is, the plurality of third torques may include a series of torques at equal intervals, of course, depending on the actual application, the plurality of third torques may also include a series of torques at unequal intervals, for example, may include: -5Nm, -4Nm, …, 3Nm, 4.5Nm, 5Nm and the like, and the specific value is not limited to the above.
And S602, respectively acquiring third joint positions corresponding to the target joints when the third torques are applied.
And S603, calculating control errors of all joints according to the positions of all the third joints and the reference motion position of the target joint.
The specific application process of each third torque may be performed in the application processes of the first preset torque and the second preset torque, which is not described herein again. When each third torque is applied to the target joint, the third joint position corresponding to the target joint when each third torque is applied may be acquired, and it is understood that a plurality of third joint positions are acquired at this time.
Based on the above description, further, each joint control error between each third joint position and the reference movement position of the target joint may be acquired, and each joint control error may represent a control error of the target joint when each third torque is applied.
And S604, acquiring a joint elastic coefficient corresponding to the target joint according to the joint control errors and the third torques.
Based on the above description, it can be further understood that each joint control error corresponds to a third torque, and then, the joint elastic coefficient corresponding to the target joint can be obtained by fitting according to each joint control error and each third torque. Wherein, the fitting formula can be expressed as the following formula:
f＝kθ err
where f represents a preset torque set, θ err And k represents a joint control error set corresponding to the preset torque set, and k represents a joint elastic coefficient corresponding to the target joint.
It should be noted that, when the fitting is specifically performed, the fitting may be obtained based on least square fitting, and of course, the application is not limited to a specific fitting algorithm, and may be flexibly selected according to an actual application scenario.
Fig. 7 is a functional module schematic diagram of a multi-joint robot motion control device provided in an embodiment of the present application, the basic principle and the technical effect of the device are the same as those of the corresponding method embodiment, and for brief description, the corresponding contents in the method embodiment may be referred to for parts not mentioned in this embodiment. As shown in fig. 7, the motion control apparatus 100 may include:
an obtaining module 110, configured to obtain a motion direction of a target joint in a multi-joint robot;
a determining module 120, configured to determine a target joint clearance compensation value corresponding to a target joint according to a motion direction of the target joint and a preset compensation table, where the preset compensation table includes a joint clearance compensation value corresponding to the target joint when a preset torque is applied to the target joint;
and the control module 130 is configured to perform tracking control on the target joint according to the target joint clearance compensation value corresponding to the target joint and the reference motion position of the target joint.
In an optional embodiment, the preset compensation table further includes a joint elastic coefficient corresponding to the target joint when a preset torque set is applied to the target joint; the control module 130 is specifically configured to determine a target joint elastic coefficient corresponding to the target joint according to the preset compensation table;
and tracking and controlling the target joint according to the target joint clearance compensation value corresponding to the target joint, the target joint elasticity coefficient and the reference motion position of the target joint.
In an alternative embodiment, the control module 130 is specifically configured to obtain the joint force expected to be output by the target joint according to an inverse kinematics algorithm;
calculating a target joint elasticity compensation value according to the target joint elasticity coefficient and the joint force expected to be output by the target joint;
and tracking and controlling the target joint according to the target joint clearance compensation value corresponding to the target joint, the target joint elasticity compensation value and the reference motion position of the target joint.
In an alternative embodiment, the determining module 120 is further configured to generate a torque application command in response to a request for obtaining a preset compensation table;
according to the torque application instruction, applying a target torque to the target joint, and respectively obtaining a joint clearance compensation value and a joint elastic coefficient corresponding to the target joint;
and generating the preset compensation table according to the joint clearance compensation value and the joint elastic coefficient corresponding to the target joint.
In an alternative embodiment, the determining module 120 is specifically configured to apply a first preset torque and a second preset torque to the target joint according to a first torque application instruction, where the first preset torque and the second preset torque are opposite in direction and the same in magnitude;
respectively acquiring a first joint position corresponding to the target joint when the first preset torque is applied and a second joint position corresponding to the target joint when the second preset torque is applied;
and calculating a joint clearance compensation value corresponding to the target joint according to the first joint position and the second joint position.
In an alternative embodiment, the determining module 120 is specifically configured to calculate a position difference between the first joint position and the second joint position, and use the position difference as a joint gap compensation value corresponding to the target joint.
In an alternative embodiment, the determining module 120 is specifically configured to apply a preset torque set to the target joint according to a second torque application instruction, where the preset torque set includes a plurality of third torques;
respectively acquiring a third joint position corresponding to the target joint when each third torque is applied;
calculating control errors of all joints according to the positions of all the third joints and the reference motion position of the target joint;
and acquiring a joint elastic coefficient corresponding to the target joint according to each joint control error and each third torque.
The above-mentioned apparatus is used for executing the method provided by the foregoing embodiment, and the implementation principle and technical effect are similar, which are not described herein again.
These above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors, or one or more Field Programmable Gate Arrays (FPGAs), etc. For another example, when one of the above modules is implemented in the form of a Processing element scheduler code, the Processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
Fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure, where the electronic device may be integrated in a multi-joint robot. As shown in fig. 8, the electronic device may include: a processor 210, a storage medium 220, and a bus 230, wherein the storage medium 220 stores machine-readable instructions executable by the processor 210, and when the electronic device is operated, the processor 210 communicates with the storage medium 220 via the bus 230, and the processor 210 executes the machine-readable instructions to perform the steps of the above-mentioned method embodiments. The specific implementation and technical effects are similar, and are not described herein again.
Optionally, the present application further provides a storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the computer program performs the steps of the above method embodiments. The specific implementation and technical effects are similar, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present application. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures. The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A method for controlling the motion of a multi-joint robot, comprising:
acquiring the motion direction of a target joint in the multi-joint robot;
determining a target joint clearance compensation value corresponding to a target joint according to the motion direction of the target joint and a preset compensation table, wherein the preset compensation table comprises the joint clearance compensation value corresponding to the target joint when preset torque is applied to the target joint;
and tracking and controlling the target joint according to the target joint clearance compensation value corresponding to the target joint and the reference motion position of the target joint.
2. The method of claim 1, wherein the predetermined compensation table further comprises a joint elastic coefficient corresponding to the target joint when a predetermined set of torques is applied to the target joint;
the tracking control of the target joint according to the target joint clearance compensation value corresponding to the target joint and the reference motion position of the target joint comprises the following steps:
determining a target joint elastic coefficient corresponding to the target joint according to the preset compensation table;
and tracking and controlling the target joint according to the target joint clearance compensation value corresponding to the target joint, the target joint elasticity coefficient and the reference motion position of the target joint.
3. The method according to claim 2, wherein the tracking control of the target joint according to the target joint gap compensation value corresponding to the target joint, the target joint elastic coefficient and the reference motion position of the target joint comprises:
acquiring the joint force expected to be output by the target joint according to an inverse kinematics algorithm;
calculating a target joint elasticity compensation value according to the target joint elasticity coefficient and the joint force expected to be output by the target joint;
and tracking and controlling the target joint according to the target joint clearance compensation value corresponding to the target joint, the target joint elasticity compensation value and the reference motion position of the target joint.
4. The method according to claim 2, wherein before determining the target joint clearance compensation value corresponding to the target joint according to the motion direction of the target joint and a preset compensation table, the method further comprises:
generating a torque application command in response to an acquisition request of a preset compensation table;
according to the torque application instruction, applying a target torque to the target joint, and respectively obtaining a joint clearance compensation value and a joint elastic coefficient corresponding to the target joint;
and generating the preset compensation table according to the joint clearance compensation value and the joint elastic coefficient corresponding to the target joint.
5. The method according to claim 4, wherein applying a target torque to the target joint according to the torque application command to obtain a joint clearance compensation value corresponding to the target joint comprises:
according to a first torque application instruction, respectively applying a first preset torque and a second preset torque to the target joint, wherein the first preset torque and the second preset torque are opposite in direction and same in size;
respectively acquiring a first joint position corresponding to the target joint when the first preset torque is applied and a second joint position corresponding to the target joint when the second preset torque is applied;
and calculating a joint clearance compensation value corresponding to the target joint according to the first joint position and the second joint position.
6. The method of claim 5, wherein calculating a joint clearance compensation value for the target joint based on the first joint position and the second joint position comprises:
and calculating a position difference between the first joint position and the second joint position, and taking the position difference as a joint clearance compensation value corresponding to the target joint.
7. The method according to claim 4, wherein applying a target torque to the target joint according to the torque application command to obtain a joint elastic coefficient corresponding to the target joint comprises:
applying a preset torque set to the target joint according to a second torque application instruction, wherein the preset torque set comprises a plurality of third torques;
respectively acquiring a third joint position corresponding to the target joint when each third torque is applied;
calculating control errors of all joints according to the positions of all the third joints and the reference motion position of the target joint;
and acquiring a joint elastic coefficient corresponding to the target joint according to each joint control error and each third torque.
8. A multi-joint robot motion control device, comprising:
the acquisition module is used for acquiring the motion direction of a target joint in the multi-joint robot;
the determining module is used for determining a target joint clearance compensation value corresponding to a target joint according to the motion direction of the target joint and a preset compensation table, wherein the preset compensation table comprises the joint clearance compensation value corresponding to the target joint when preset torque is applied to the target joint;
and the control module is used for tracking and controlling the target joint according to the target joint clearance compensation value corresponding to the target joint and the reference motion position of the target joint.
9. An electronic device, comprising: a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor and the storage medium communicating via the bus when the electronic device is running, the processor executing the machine-readable instructions to perform the steps of the multi-joint robot motion control method according to any one of claims 1-7.
10. A computer-readable storage medium, having stored thereon a computer program for performing, when being executed by a processor, the steps of the multi-joint robot motion control method according to any one of claims 1-7.
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