CN115284319A - Control method of manual control equipment and manual controller - Google Patents
Control method of manual control equipment and manual controller Download PDFInfo
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- CN115284319A CN115284319A CN202211009999.7A CN202211009999A CN115284319A CN 115284319 A CN115284319 A CN 115284319A CN 202211009999 A CN202211009999 A CN 202211009999A CN 115284319 A CN115284319 A CN 115284319A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The invention relates to a control method of a manual control device and a manual controller, which relate to the field of manual controllers, and the control method of the manual control device comprises the following steps: acquiring angle data detected by a magnetic position sensor in the hand controller; mapping the angle data to obtain the joint angle of the hand controller equipment; force feedback is carried out by utilizing a connecting rod static balance type according to the joint angle of the hand controller equipment, and the output torque of a joint driving motor is determined; and controlling the joint driving motor to output torque according to the output torque of the joint driving motor. The invention can improve the flexibility of master-slave operation and reduce the time cost for operators to learn and master the operation skills.
Description
Technical Field
The invention relates to the field of hand controllers, in particular to a control method of a hand control device and the hand controller.
Background
At present, the nuclear industry field at home and abroad has wide teleoperation technology application, and in the existing literature and practical application, teleoperation modes of a master-slave isomorphism mode and a master-slave isomorphism mode are divided from the perspective of master-slave composition of a teleoperation robot. The master-slave isomorphism means that the master-end hand controller and the slave-end robot have the same mechanical structure, the structure does not need more kinematics and dynamics calculation, the control algorithm is relatively simple, and a natural and friendly interaction mode is provided for operators. However, the structure has poor universality, often, one master hand controller can only correspond to a specific isomorphic slave robot, the development cost is high, the operating space of the master hand controller needs to completely cover the working space of the slave robot, and the flexibility is poor. The design difficulty of the master-slave heterogeneous teleoperation system is higher. The mapping of the structure and the movement of the master-slave end is complex, the control algorithm is more complex, but the operation is flexible, the requirement on the operation space of the master-end hand controller is small, and the ergonomic optimization design can be carried out. The method has wide application in modern teleoperation robot systems.
By combining practical experience of a teleoperation system in the nuclear industry, when an operator uses the master-slave heterogeneous hand controller, the mapping relation between the motion of the master-slave hand controller and the motion of the slave-slave robot is not clear, and the operation is rigid and unnatural. A lot of additional time is required for the operation training of the hand controller. In order to improve the flexibility of master-slave operation, construct a natural, friendly and efficient interaction mode, and reduce the time cost for operators to learn and master operation skills, a master-slave isomorphic hand controller with intuitive motion relation and simple and friendly operation mode and universality needs to be developed.
Disclosure of Invention
The invention aims to provide a control method of a manual control device and the manual control device, which are used for improving the flexibility of master-slave operation and reducing the time cost for an operator to learn and master the operation skill.
In order to achieve the purpose, the invention provides the following scheme:
a method of controlling a hand control device, comprising:
acquiring angle data detected by a magnetic position sensor in the hand controller;
mapping the angle data to obtain the joint angle of the hand controller equipment;
utilizing a connecting rod static force balance type to perform force feedback according to the joint angle of the hand controller equipment, and determining the output torque of a joint driving motor;
and controlling the joint driving motor to output torque according to the output torque of the joint driving motor.
Optionally, the determining an output torque of the joint driving motor by performing force feedback by using a static balancing of a connecting rod according to the joint angle of the hand controller device specifically includes:
force feedback is carried out by utilizing a connecting rod static balance according to the joint angle of the hand controller equipment, and equipment joint output torque is determined;
and mapping the output torque of the equipment joint to obtain the output torque of the joint driving point solution of each joint.
Optionally, the expression of the static balancing of the connecting rod is as follows:
wherein the content of the first and second substances,
is a transformation matrix from the coordinate system 0 to the coordinate system 6,
is a transformation matrix from the coordinate system {0} to the coordinate system {1},
is a transformation matrix from the coordinate system {1} to the coordinate system {2},
is a transformation matrix from the coordinate system 2 to the coordinate system 3,
is a transformation matrix from coordinate system 3 to coordinate system 4,
is a transformation matrix from coordinate system 4 to coordinate system 5,
is a transformation matrix from coordinate system 5 to coordinate system 6.
Optionally, the expression of the device joint output torque is:
wherein the content of the first and second substances, i f i representing the force of the connecting rod i-1 acting on the connecting rod i; i represents a 1-6 coordinate system; i M i representing the moment acted on the connecting rod i by the connecting rod i-1; m is i g i Representing the gravity to which the connecting rod i is subjected; m is a unit of i Denotes the mass, g, of the connecting rod i i Represents the acceleration of gravity; i r i representing the position of the centroid of the connecting rod i on a coordinate system i;
representing the position of the origin of the coordinate system i +1 on the coordinate system i;
a rotation transformation matrix representing a coordinate system i +1 to a coordinate system i; i+1 f i+1 represents the expression of the force applied on the connecting rod i +1 on the coordinate system i +1, i+1 M i+1 the expression of the moment applied to the connecting rod i +1 on the coordinate system { i +1} is shown.
The invention also provides a hand controller which comprises a multi-degree-of-freedom joint mechanical arm, a key handle, a movable foot rest and a controller, wherein the multi-degree-of-freedom joint mechanical arm is arranged on the movable foot rest, the key handle is arranged at the tail end of the multi-degree-of-freedom joint mechanical arm, a magnetic position sensor is integrated in each joint driving motor of the multi-degree-of-freedom joint mechanical arm and used for collecting the rotating angle of a motor rotor, and the controller controls each joint driving motor to output torque by using any one of the manual control equipment control methods.
Optionally, the joint driving device further comprises a speed reducing mechanism, a torque input end of the speed reducing mechanism is used for being in transmission connection with one joint driving motor, a torque output end of the speed reducing mechanism is used for being in transmission connection with the next joint driving motor, and the speed reducing ratio of the speed reducing mechanism is 3.
Optionally, the movable foot rest is further provided with a control box, and the control box is electrically connected with the multi-degree-of-freedom joint mechanical arm.
Optionally, the multi-degree-of-freedom joint mechanical arm is a six-degree-of-freedom joint mechanical arm.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention obtains the angle data detected by the magnetic position sensor in the hand controller; mapping the angle data to obtain the joint angle of the hand controller device; force feedback is carried out by utilizing a connecting rod static balance type according to the joint angle of the hand controller equipment, and the output torque of a joint driving motor is determined; and controlling the joint driving motor to output torque according to the output torque of the joint driving motor. The invention can supplement gravity and operation resistance by force feedback to reduce operation load.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a flow chart of a control method of a hand control device according to the present invention;
fig. 2 is a control flow chart of the control method of the hand control device in practical application according to the present invention;
FIG. 3 is a schematic diagram of D-H modeling of the hand controller provided by the present invention
FIG. 4 is a schematic structural diagram of a hand controller according to the present invention;
fig. 5 is a schematic structural view of a multi-degree-of-freedom joint mechanical arm in a hand controller and a key handle at the tail end thereof, provided by the invention;
FIG. 6 is a schematic structural view of a speed reducing mechanism and a joint driving motor in the hand controller according to the present invention;
FIG. 7 is a schematic structural view of a button handle in the hand controller according to the present invention;
fig. 8 is a schematic structural view of the inside of a control box in the hand controller provided by the present invention;
fig. 9 is an architecture diagram of a control system between a hand controller and an upper computer thereof according to the present invention;
description of the symbols: 1. a multi-degree-of-freedom joint mechanical arm; 2. a key handle; 3. a movable foot rest; 4. a control box; 11. the joint 1 drives a motor; 12. a joint 1 rod member; 21. the joint 2 drives a motor; 22. a joint 2 bar; 23. a speed reduction mechanism; 31. the joint 3 drives a motor; 32. a joint 3 rod; 41. the joint 4 drives a motor; 42. a joint 4 rod member; 51. the joint 5 drives a motor; 52. a joint 5 rod; 61. the joint 6 drives a motor; 62. a joint 6 bar; 231. a rack housing; 232. a connecting flange; 233. 3M-24 synchronous pulleys; 234. a synchronous belt; 235. 3M-72 timing pulleys; 236. a bearing; 201. an indicator light; 202. function keys; 203. a key main control panel; 204. a charging interface; 401. a power source; 402. a power interface; 403. a communication interface; 404. a power supply interface of the hand controller; 405. a hand controller communication interface; 406. a communication device.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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 invention.
The invention aims to provide a control method of a manual control device and the manual controller, so as to improve the flexibility of master-slave operation and reduce the time cost for an operator to learn and master operation skills.
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description thereof.
As shown in fig. 1, the present invention provides a method for controlling a hand control device, comprising:
step 101: and acquiring angle data detected by a magnetic position sensor in the hand controller.
Step 102: and mapping the angle data to obtain the joint angle of the hand controller device.
Step 103: and performing force feedback by using a connecting rod static balance type according to the joint angle of the hand controller equipment to determine the output torque of the joint driving motor.
Step 103 specifically includes:
force feedback is carried out by utilizing a connecting rod static balance according to the joint angle of the hand controller equipment, and equipment joint output torque is determined; and mapping the output torque of the joints of the equipment to obtain the output torque of the joint driving point solution of each joint.
The expression of the connecting rod static balance type is as follows:
wherein the content of the first and second substances,
is a transformation matrix from the coordinate system 0 to the coordinate system 6,
is a transformation matrix from the coordinate system {0} to the coordinate system {1},
is a transformation matrix from the coordinate system {1} to the coordinate system {2},
is a transformation matrix from the coordinate system 2 to the coordinate system 3,
is a transformation matrix from coordinate system 3 to coordinate system 4,
is a transformation matrix from coordinate system 4 to coordinate system 5,
is a transformation matrix from coordinate system 5 to coordinate system 6.
The expression of the output torque of the equipment joint is as follows:
wherein the content of the first and second substances, i f i representing the force of the connecting rod i-1 acting on the connecting rod i; i represents a 1-6 coordinate system; i M i representing the moment acted on the connecting rod i by the connecting rod i-1; m is a unit of i g i Representing the gravity to which the connecting rod i is subjected; m is i Denotes the mass, g, of the connecting rod i i Represents the acceleration of gravity; i r i representing the position of the centroid of the connecting rod i on a coordinate system i;
representing the position of the origin of the coordinate system i +1 on the coordinate system i;
a rotation transformation matrix representing a coordinate system i +1 to a coordinate system i; i+1 f i+1 represents the expression of the force applied on the connecting rod i +1 on the coordinate system i +1, i+1 M i+1 the expression of the moment applied to the connecting rod i +1 on the coordinate system { i +1} is shown.
Step 104: and controlling the joint driving motor to output torque according to the output torque of the joint driving motor.
As shown in fig. 2, the present invention also provides a control flow of the control method of the hand control device in practical application, when the control is started:
step 1: the initialization of the hand controller device is first performed, establishing communication with the hand controller device.
Step 2: the angle data of the encoder of the hand controller device is collected in real time through an RS485 bus, and the encoder chip is an AS5047 magnetic position sensor. The angle data is detected using AS5047 magnetic position sensors.
And step 3: the collected angle data is subjected to mapping processing as formula (1) and converted into joint angles of a hand controller D-H model shown in figure 3.
Wherein alpha is 1 ～α 6 For collecting raw angle data, theta, of six magnetic position sensors of the hand controller 1 ～θ 6 Six joint angles of the D-H model of the hand controller.
And 4, step 4: the connecting rod static balance type (2) of the mechanical arm is utilized to solve the output torque of the motors 1-6, and the method comprises the following specific steps:
wherein i represents a 1 to 6 coordinate system; i f i representing the force of the connecting rod i-1 acting on the connecting rod i; i M i the moment acted on the connecting rod i by the connecting rod i-1 is represented, namely the output torque of the equipment joint; m is i g i Representing the gravity to which the connecting rod i is subjected; i r i representing the position of the centroid of the connecting rod i on a coordinate system i;
representing the position of the origin of the coordinate system i +1 on the coordinate system i;
representing a rotation transformation matrix of coordinate system i +1 to coordinate system i. A formulaM in i g i 、 i r i 、
Determined by the physical properties of the force feedback device,
a rotation transformation matrix representing the coordinate system i +1 to the coordinate system i, and a joint angle theta of the joint i i I =1 to 6, transformation matrix between coordinate systems
The transformation matrix in formula (2) is obtained, wherein
Indicating the positional relationship of the origins of the two coordinate systems.
Namely that
Calculating the device joint angle theta from the equation (1) 1 ～θ 6 Rotary transformation matrix brought into equation (2)
Performing force feedback calculation in real time according to the set output force of the tail end of the equipment; and solving the output torque M of each joint in the D-H model according to the magnitude of the feedback force required to be output.
And 5: the device joint output torque M obtained by the pair of equations (3) is expressed by equation (5) i I = 1-6 is mapped as the output torque of each joint drive motor, where M motor1 ～M motor6 Representing the output torque, tau, of the drive motors of the joints 1-6 i Representing joint output torque M i Z-axis component of (a).
And 6: and transmitting the corresponding output torque of each corresponding driving motor to the lower computer of the equipment through an RS485 bus, and executing corresponding torque output by the lower computer.
And 7: and repeating the steps to realize the torque feedback of the full pose of the equipment.
And 8: the control system receives the control message of the key handle of the hand controller, and the instruction message is shown in table 1. The functions of single click, double click and long press are supported, and various operation modes are realized by matching with a hand controller. When the upper computer receives the control instruction of the key handle, the real-time joint angle theta of the hand controller is recorded 1 ～θ 6 Is calculated as the output angle alpha of the driving motor according to the formula (6) 1 ～α 6 The RS485 bus of the control box transmits an angle control instruction to a controller of the driving motor to realize the position locking control of the hand controller; and meanwhile, the position of the tail end of the hand controller is resolved according to the formula (2) and is output as a control instruction of the hand controller, so that the control function of the hand controller is realized. The output torque and the output angle of the driving motor are control parameters of two control modes (force feedback control and position control) for the equipment, and the output instruction of the hand controller (six-degree-of-freedom isomorphic force feedback equipment) refers to the joint angle and the tail end position of the equipment and is used for controlling other slave-end equipment (a model in a virtual environment, a real isomorphic mechanical arm and the like)
Table 1 message list of key handles
As shown in fig. 4 to 9, the present invention further provides a hand controller, which includes a multi-degree-of-freedom joint mechanical arm 1, a key handle 2, a movable foot rest 3, and a controller, wherein the multi-degree-of-freedom joint mechanical arm 1 is mounted on the movable foot rest 3, the key handle 2 is disposed at the end of the multi-degree-of-freedom joint mechanical arm 1, the structure of the multi-degree-of-freedom joint mechanical arm 1 is consistent with the kinematic configuration of a slave-end mechanical arm, each joint driving motor of the multi-degree-of-freedom joint mechanical arm 1 is integrated with a magnetic position sensor, the magnetic position sensor is used for collecting the rotation angle of a motor rotor, and the controller controls each joint driving motor to perform torque output by using the above manual control device control method.
The controller in the hand controller according to the present invention performs torque output control on the driving motors of the joints by using the control method of the hand control device, and therefore, the hand controller has all the effects of the control method of the hand control device, and details thereof are not described herein.
In another specific embodiment, the hand controller further includes a speed reducing mechanism 23, a torque input end of the speed reducing mechanism 23 is used for being in transmission connection with one joint driving motor, a torque output end of the speed reducing mechanism 23 is used for being in transmission connection with the next joint driving motor, and the speed reducing ratio of the speed reducing mechanism 23 is 3.
In another embodiment, the multi-degree-of-freedom joint mechanical arm 1 is a six-degree-of-freedom joint mechanical arm including six joints.
Wherein, the movable foot rest 3 is also provided with a control box 4, and the control box 4 is electrically connected with the multi-freedom joint mechanical arm 1.
In another embodiment, the movable foot rest 3 includes a movable base and a support rod fixedly disposed on the movable base, the multi-degree-of-freedom joint mechanical arm 1 is connected to the support rod through a screw, each joint in the multi-degree-of-freedom joint mechanical arm 1 includes a joint driving motor and a rod member formed by 3D printing, the second joint further includes the speed reducing mechanism 23, and the speed reducing mechanism 23 is connected to the joint driving motor through belt transmission.
As shown in fig. 6, the speed reducing mechanism 23 is composed of a connecting flange 232, a bearing 236, a 3M-72 synchronous pulley 235, a 3M-24 synchronous pulley 233, a synchronous belt 234 of the same type and a frame shell 231 formed by 3D printing and rapid prototyping, wherein the 3M-24 synchronous pulley 233 is fixed with a rotor of a joint driving motor through the connecting flange 232, and a stator of the joint driving motor is connected to the frame shell 231 through threads; 3M-72 synchronous pulley 235 is connected to frame shell 231 through bearing 236, and synchronous belt 234 connects two big and small synchronizing wheels, realizes 1:3, a deceleration effect.
Wherein, the joint driving motor of each joint adopts the brushless motor of Haitai electromechanical, and sensor, driver integration are on the motor. Each motor adopts 1 AS5047 magnetic position sensor to acquire the rotation angle of a motor rotor.
Fig. 7 is terminal button handle 2, contain power indicator 201, button main control board 202, and five function button 202, support and click, double click, long press the function, multiple mode of operation is realized to the cooperation hand controller, button handle 2 adopts the STM32 chip as the master control, adopt bluetooth module and host computer to carry out wireless communication, button handle 2 is by built-in lithium cell power supply, do not have extra power, the communication is walked the line, can not produce the influence to the operating space of hand controller, make things convenient for the operation of hand controller user.
The control box 4 is composed of a communication device 406 and a direct current power supply, the communication device 406 is a device for converting USB into CAN, the hand controller realizes communication with an upper computer through the device, and meanwhile, the 24V direct current power supply of the control box 4 supplies power to the hand controller.
The invention aims to design a six-degree-of-freedom isomorphic force feedback hand controller device which is directly driven by an actuator integrating a sensor, a controller and a motor. Structurally, a gravity compensation mechanism is not additionally designed, the whole structure is compact, timely and appropriate torque compensation gravity and operation resistance are applied by a driving actuator, the operation burden is reduced, a transparent, operation-friendly and natural operation mode is realized, the control requirements on the slave end mechanical arm, such as accuracy, safety, high efficiency and friendliness, are met, and the operation requirements of professional tasks are met.
The hand controller is used as a man-machine interaction interface and needs to provide certain energy to enable the tail end of the mechanism to output force and moment with certain rules. In consideration of response time, control precision and size, the hand controller designed by the invention adopts a direct-current brushless servo motor as a drive. The stability of a force feedback system is considered, the frequency of servo control reaches 1KHz, the design is realized by directly communicating an upper computer with a driver of a motor, and the framework of the control system comprises the upper computer, a communication protocol and the driver.
The upper computer is connected with the hand controller through the CAN bus, the hand controller transmits the angle, current, temperature and other designs of the motor collected by the sensor to the upper computer through the CAN bus, the upper computer analyzes and processes the received data, and the control instructions of the joint motors of the hand controller are sent through the CAN bus to complete the overall control of the hand controller.
In the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the description of the method part.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (8)
1. A method of controlling a hand control device, comprising:
acquiring angle data detected by a magnetic position sensor in the hand controller;
mapping the angle data to obtain the joint angle of the hand controller equipment;
force feedback is carried out by utilizing a connecting rod static balance type according to the joint angle of the hand controller equipment, and the output torque of a joint driving motor is determined;
and controlling the joint driving motor to output torque according to the output torque of the joint driving motor.
2. The manual control device control method according to claim 1, wherein the determining the output torque of the joint driving motor by performing force feedback using the link static balance according to the joint angle of the manual controller device specifically comprises:
force feedback is carried out by utilizing a connecting rod static balance according to the joint angle of the hand controller equipment, and equipment joint output torque is determined;
and mapping the output torque of the equipment joint to obtain the output torque of the joint driving point solution of each joint.
3. The manual control device control method of claim 1 wherein the static linkage balance is expressed by:
wherein the content of the first and second substances,
is a transformation matrix from the coordinate system 0 to the coordinate system 6,
is a transformation matrix from the coordinate system {0} to the coordinate system {1},
is a transformation matrix from the coordinate system {1} to the coordinate system {2},
is a transformation of the coordinate system {2} into the coordinate system {3}The matrix is a matrix of a plurality of pixels,
is a transformation matrix from coordinate system 3 to coordinate system 4,
is a transformation matrix from coordinate system 4 to coordinate system 5,
is a transformation matrix from coordinate system 5 to coordinate system 6.
4. The manual apparatus control method of claim 2 wherein the expression for the apparatus joint output torque is:
wherein the content of the first and second substances, i f i representing the force of the connecting rod i-1 acting on the connecting rod i; i represents a 1-6 coordinate system; i M i the moment acted on the connecting rod i by the connecting rod i-1 is shown; m is i g i Representing the gravity to which the connecting rod i is subjected; m is a unit of i Denotes the mass, g, of the connecting rod i i Represents the acceleration of gravity; i r i representing the position of the centroid of the connecting rod i on a coordinate system i;
representing the position of the origin of the coordinate system i +1 on the coordinate system i;
a rotation transformation matrix representing a coordinate system i +1 to a coordinate system i; i+1 f i+1 represents the expression of the force applied on the connecting rod i +1 on the coordinate system { i +1}, i+1 M i+1 the expression of the moment applied to the connecting rod i +1 on the coordinate system { i +1} is shown.
5. A hand controller, its characterized in that: the multi-degree-of-freedom joint mechanical arm is mounted on the movable foot stand, the structure of the multi-degree-of-freedom joint mechanical arm is consistent with the configuration of a driven end mechanical arm, the key handle is arranged at the tail end of the multi-degree-of-freedom joint mechanical arm, magnetic position sensors are integrated in joint driving motors of the multi-degree-of-freedom joint mechanical arm and used for collecting the rotation angles of a motor rotor, and the controller controls the joint driving motors to output torque by using the manual control equipment control method as claimed in any one of claims 1 to 4.
6. The hand controller according to claim 5, wherein: the joint driving motor transmission device is characterized by further comprising a speed reducing mechanism, wherein a torque input end of the speed reducing mechanism is used for being in transmission connection with one joint driving motor, a torque output end of the speed reducing mechanism is used for being in transmission connection with the next joint driving motor, and the speed reducing ratio of the speed reducing mechanism is 3.
7. The hand controller according to claim 5, wherein: the movable foot rest is further provided with a control box, and the control box is electrically connected with the multi-degree-of-freedom joint mechanical arm.
8. The hand controller according to claim 5, wherein: the multi-degree-of-freedom joint mechanical arm is a six-degree-of-freedom joint mechanical arm.
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