KR850001904B1 - The feedback method for high speed control in a manipulator - Google Patents

The feedback method for high speed control in a manipulator Download PDF

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KR850001904B1
KR850001904B1 KR1019830006388A KR830006388A KR850001904B1 KR 850001904 B1 KR850001904 B1 KR 850001904B1 KR 1019830006388 A KR1019830006388 A KR 1019830006388A KR 830006388 A KR830006388 A KR 830006388A KR 850001904 B1 KR850001904 B1 KR 850001904B1
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controller
speed
actuator
manipulator
high speed
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KR1019830006388A
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KR850005106A (en
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고광일
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주식회사 금성사
허신구
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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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G05B19/27—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an absolute digital measuring device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • G05D3/20—Control of position or direction using feedback using a digital comparing device

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Control Of Position Or Direction (AREA)
  • Selective Calling Equipment (AREA)

Abstract

A kinematic controller provides feedback of variations in the speed and position of the actuator to the manipulator. The nonlinear terms of qi, qj, from the detected signals of the speed (VS1-VSn) and position (PS1-PSn) sensors, are calculated by the multiplexers and multipliers, transformed to the digital signals by an A/D converter, and provided to the controller.

Description

조종기의 고속제어를 위한 궤환장치Feedback device for high speed control of remote controller

제1도는 본 발명 궤환장치의 블록도.1 is a block diagram of the feedback device of the present invention.

제2도는 제1도 멀티플렉서의 타임챠트.2 is a time chart of the FIG. 1 multiplexer.

* 도면의 주요부분에 대한 부호의 설명* Explanation of symbols for main parts of the drawings

1 : 조종기(manipulator) 2 : 콘트롤러1: manipulator 2: controller

3 : 액취에이터드라이버 4 : 액취에이터3: Actuator driver 4: Actuator

5 : 감지부 6, 6',7,7' : 멀티플렉서5: sensing unit 6, 6 ', 7,7': multiplexer

8,8' : 멀티플라이어 9,9' : A/D 콘버터8,8 ': Multiplier 9,9': A / D Converter

본 발명은 조종기(manipulator)나 산업용로보트를 고속으로 제어하기 위한 궤환장치에 관한 것으로, 특히 비선형부분의 항을 외부에서 하드웨어로 계산하여 콘트롤러에 궤환시킴으로서 실시간적으로 정밀도를 유지하며, 비교적 큰 속도에서도 좋은 성능을 발휘할 수 있게 한 조종기의 고속제어를 위한 궤환장치에 관한 것이다.The present invention relates to a feedback device for controlling a manipulator or an industrial robot at high speed, and in particular, by calculating the hardware of the non-linear part from the outside and feeding it back to the controller to maintain precision in real time, even at a relatively high speed. The present invention relates to a feedback device for high speed control of a remote controller capable of exhibiting good performance.

일반적으로 조종기나 산업용로보트를 제어하기 위한 제어방식에 있어서는 운동학적(Kinematical) 제어방식과 역학적(Dynamical) 제어방식이 있다. 그런데, 상기 운동학적 제어방식은 조종기의 기구부(Mechanical Part)와 처리부(Actuator Part)중 처리부만을 고려하여 제어하는 방식이므로 필연적으로 성능이 떨어질 수밖에 없었고, 또한 고속운전시에지수적으로 증가하는 오차를 여러가지의 보상방법으로 보상해 주고 있으나, 오차에 대한 보상을 정확히 해줄 수 없는 결점이 있었다.In general, there are kinematic control methods and dynamic control methods for controlling a remote controller or industrial robot. However, since the kinematic control method is a control method considering only the processing part among the mechanical part and the actuator part of the manipulator, the performance is inevitably deteriorated, and the error that increases exponentially during high speed operation is also reduced. Compensation by various compensation methods, but there was a flaw that can not accurately compensate for the error.

그리고, 상기 역학적 제어방식은 조종기의 기구부와 처리부 모두를 고려해서 제어하는 방식이나, 이 방식은 기구부의 모델이 콘트롤러의 실시간으로 계산하기에 너무 복잡하고, 비선형적인 결점이 있었다.In addition, the mechanical control method is controlled by considering both the mechanical part and the processing part of the manipulator, but this method is too complicated for the model of the mechanical part to calculate in real time of the controller, and has a nonlinear defect.

즉, 기구적인 모델(τ)은That is, the mechanical model τ is

τ=H(q)·q +h(q·q)…………(1)tau = H (q) q + h (q q)... … … … (One)

(n×1) (n×n) (n×1) (n×1)(n × 1) (n × n) (n × 1) (n × 1)

τ=[τ1…………τn]τ = [τ 1 ... … … … τ n ]

g=[q1,…………*,qn]g = [q 1 ,... … … … * , q n ]

여기서 τi는 i-th 점의 토오크Where τi is the torque at the i-th point

qi는 i-th 점의 변위량이다.qi is the displacement amount of the i-th point.

따라서 식(1)을 해결하는 방법중에서 가장 좋은 방법은 위치감지(q)와 속도감지(q)를 궤환시켜 목표값(qd) 및 (qd)로부터 계산된 값(qd)과 조합하여 액취에이터(Actuator)가 발생해야할 토오크량을 계산하고, 그에 해당하는 액취에이터 입력신호를 가해서 조종기가 바라는대로 작업을 수행토록 하는 것이다. 그러나, 식(1)의 양이 너무 많아서 콘트롤러에서 실시간으로 계산해내는 것이 경제성을 고려할 때 불가능하게 되므로 식(1)에서 비선형항인 h(q,q,)를 무시하고 액취에이터가 발생해야 할 토오크량을 계산하였다. 따라서 고속운전시에는 무시된 항인 비선형항이 상당히 큰 값을 가지게 되어 고정밀도를 유지할 수 없는 결점이 있었다.Therefore, the best way to solve equation (1) is to feedback the position detection (q) and the speed detection (q) and combine it with the value (qd) calculated from the target values (qd) and (qd). The actuator calculates the amount of torque to be generated and applies the corresponding actuator input signal so that the controller can perform the operation as desired. However, because the amount of equation (1) is so large that it is impossible to calculate in real time in the controller, considering the economics, the torque to generate the actuator by ignoring the nonlinear term h (q, q,) in equation (1). The amount was calculated. Therefore, in high speed operation, the neglected nonlinear term has a very large value, so that it is impossible to maintain high precision.

본 발명은 상기와 같은 조종기의 역학적 제어방식에서 야기되는 실시간계산의 문제를 해결하기 위하여, 기존궤환신호(q), (q)의해 h(q·q)를 결정지어 주는 양인 qi·qj(i=1,…n, j=1,…n)를 외부에서 추가로 궤환시켜 조종기의 조정에 따른 정확한 제어를 할 수 있게 발명한 것으로, 이를 첨부된 도면에 의하여 상세히 설명하면 다음과 같다.The present invention is to solve the problem of the real-time calculation caused by the mechanical control method of the controller as described above, the amount that determines the h (q · q) by the existing feedback signals (q), (q) qi.qj (i = 1, ... n, j = 1, ... n) is further invented from the outside to enable accurate control according to the adjustment of the controller, which will be described in detail with reference to the accompanying drawings.

조종기(1)의 조정신호에 따라 이 피롬(21), 마이크로프로세서(22) 및 램(23)으로 구성된 콘트롤러(2)에서 목표값(qd),(qd),(qd)를 조정기의 역학적 입장에서 계산해내고, 계산된 이 신호를 액취에이터드라이버(3)에 인가하여 액취에이터(4)를 구동시키며, 이 액취에이터(4)의 위치변위량 및 속도변위량을 위치센서(PS1-PSn)및 속도센서(VS1-VSn)로 구성된 감지부(5)에서 감지하여 콘트롤러(2)에 제어진호로 인가하는 조종기의 제어장치에 있어서, 상기 감지부(5)에서 감지된 속도센서(VS1-VSn)의 감지신호중 임의의 두 값과 위치센서(PS1-PSn)의 감지신호중 임의의 두 값을 멀티플렉서(6)(7),(6')(7')를 각각 통한 후 멀티플라이어(8),(8')에서 각각 곱하여 값(VSi)×(VSj), (PSi)×(PSj)이 되게 하고(여기서 i=1,2,…n이고 j=1,2,…n이다) 그 값(VSi)×(VSj)은 A/D 콘버터(9),(9')에서 디지탈신호로 변환된 후 콘트롤러(2)로 궤환되게 한 것이다.According to the adjustment signal of the controller 1, the target values qd, qd, and qd of the controller 2 composed of the pyrom 21, the microprocessor 22 and the ram 23 are adjusted to the mechanical position of the regulator. And the calculated signal is applied to the actuator driver 3 to drive the actuator 4, and the position displacement and the speed displacement of the actuator 4 are measured by the position sensor PS 1 -PS n and In the control device of the controller for sensing by the sensing unit (5) consisting of the speed sensor (VS 1 -VS n ) and applied to the controller 2 as a control signal, the speed sensor (VS 1 ) detected by the sensing unit (5) -VS n ) any two values of the detection signal of the position sensor (PS 1 -PS n ) and two of the detection signal of the position sensor (PS 1 -PS n ) through the multiplexer (6) (7), (6 ') (7') and then multi Multiply by the pliers 8 and 8 'respectively to obtain the values VSi × VSj and PSi × PSj (where i = 1,2,… n and j = 1,2,… n) The value (VSi) x (VSj) is the digital value at the A / D converters 9 and 9 '. After the conversion the arcs will be fed back to a controller (2).

또한, 이때 종래의 작용에서와 같이 속도센서(VS1-VSn)의 감지신호는 액취에이터 드라이버(3)에 경우에 따라 직접 입력됨과 동시에 A/D 콘버터(10)에서 디지탈신호로 변환된 후 콘트롤러(2)에 궤환되게 되어 있으며, 위치센서(PS1-PSn)의 감지신호는 그가 광센서이어서 디지탈신호로 감지된 경우는 콘트롤러(2)에 직접 궤환되고, 아날로그 센서이어서 아날로그신호로 감지된 경우는 A/D콘버터(10)에서 디지탈신호로 변환된후 콘트롤러(2)에 궤환되게 되어 있다.In this case, as in the conventional operation, the sensing signals of the speed sensors VS 1 to VS n are directly input to the actuator driver 3 in some cases, and at the same time, are converted into digital signals at the A / D converter 10. It is fed back to the controller 2, and the detection signal of the position sensor PS 1 -PS n is directly fed back to the controller 2 when it is detected as a digital signal because it is an optical sensor, and it is detected as an analog signal because it is an analog sensor. In this case, the A / D converter 10 is converted into a digital signal and then fed back to the controller 2.

따라서, 본 발명은 제2도에 도시한 바와 같이 멀티플렉서(6)(7)를 제어하면, 타임슬롯(1)에서 멀티플렉서(6)의 출력은 속도센서(VS1)의 감시신호가 되고, 멀티플렉서(7)의 출력도 속도센서(VS1)의 감지신호가 되므로, 멀티플라이어(8)의 출력측에는 값(VS1)·(VS1)=q1·q1을 출력한다. 마찬가지로, 타임슬롯(n(n-1)+2)에서는 멀티플렉서(6)의 출력은 속도센서(VSn)의 감지신호가 되고, 멀티플렉서(7)의 출력은 속도센서(VS2)의 감지신호가 되므로, 멀티플라이어(8)의 출력측에는 값(VSn)·(VS2)=qn·q2를 출력한다.Therefore, in the present invention, when the multiplexers 6 and 7 are controlled as shown in FIG. 2, the output of the multiplexer 6 in the time slot 1 becomes a monitoring signal of the speed sensor VS 1 , and the multiplexer Since the output of (7) also becomes a detection signal of the speed sensor VS 1 , the values VS 1 and (VS 1 ) = q 1 · q 1 are output to the output side of the multiplier 8. Similarly, in the timeslot n (n-1) +2, the output of the multiplexer 6 is a detection signal of the speed sensor VS n , and the output of the multiplexer 7 is a detection signal of the speed sensor VS 2 . Therefore, the value VS n . (VS 2 ) = q n · q 2 is output to the output side of the multiplier 8.

이와같은 방법으로 타임슬롯(1-n2)에 걸쳐서 qi·qj(i=1-n ,j=1-n)을 멀티플라이어(8)에서 출력하고, 이 값(qi·qj)은 A/D콘버터(9)에서 디지탈신호로 변환된 후 콘트롤러(2)에 궤환되는 것이다. 또한, 위치센서(PS1-PSn)의 감지신호도 상기 속도센서(VS1-VSn)의 감지신호와 동일하게 센티플렉서(6')(7')를 통하여 멀티플라이어(8')에서 곱해진 후 A/D콘버터(9')에서 디지탈신호로 변환되어 콘트롤러(2)에 궤환된다.In this manner, the qiqj (i = 1-n, j = 1-n) is output from the multiplier 8 over the timeslot (1-n 2 ), and this value (qiqqj) is A /. The D converter 9 converts it into a digital signal and then feeds it back to the controller 2. In addition, the detection signal of the position sensors PS 1 -PS n is also the same as the detection signal of the speed sensors VS 1 -VS n through the multiplexer 6 ', 7' through the multiplier 8 '. After multiplying by, the A / D converter 9 'is converted into a digital signal and fed back to the controller 2.

이상에서와 같이 본 발명은 조종기의 역학적 제어방식에서 무시하였던 비선형항을 외부에서 계산하여 콘트롤러에 궤환시키므로, 콘트롤러의 실시간에 영향을 주지 않고 조종기를 제어할 수 있게 되고, 또한 비선형항까지 계산하여 궤환시키는 방식이므로 고속운전에서도 고정밀의 기능을 유지할 수 있게 된다.As described above, the present invention calculates the nonlinear terms, which are ignored in the mechanical control method of the remote controller, and returns them to the controller, so that the controller can be controlled without affecting the real time of the controller, and the nonlinear terms are also calculated and returned. The high precision function can be maintained even in high speed operation.

Claims (1)

(정정) 콘트롤러(2)의 제어신호에 따라 액취에이터 드라이버(3)로 액취에이터(4)를 구동시키고, 그 액취이이터(4)의 속도 및 위치변위량을 감지부(5)의 속도센서(VS1-VSn) 및 위치센서(PS1-PSn)로 감지하여 콘트롤러(2)에 궤환시키는 역학적 제어방식의 조종기 제어장치에 있어서, 상기 속도센서(VS1-VSn) 및 위치센서(PS1-PSn)의 감지신호중 비선형항(qi,qj)을 멀티플렉서(6)(7),(6')(7') 및 멀티플라이어(8),(8')로 각각 계산한 후 A/D콘버터(9),(9')에서 디지탈신호로 변환하여 상기 콘트롤러(2)에 궤환시키게 구성함을 특징으로 하는 조종기의 고속제어를 위한 궤환장치.(Correct) The actuator 4 drives the actuator 4 according to the control signal of the controller 2, and the speed and position displacement of the actuator 4 are detected by the speed sensor VS of the sensing unit 5. 1- VS n ) and the controller of the mechanical control method for detecting the position sensor (PS 1 -PS n ) and feedback to the controller 2, the speed sensor (VS 1 -VS n ) and the position sensor (PS The nonlinear terms (qi, qj) of the detected signals of 1- PS n are calculated by the multiplexers 6, 7, 6 ', 7' and the multipliers 8, 8 ', respectively, and then A / A feedback device for high-speed control of a remote controller, characterized in that configured to convert the digital signal in the D converter (9), (9 ') to the controller (2).
KR1019830006388A 1983-12-31 1983-12-31 The feedback method for high speed control in a manipulator KR850001904B1 (en)

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KR1019830006388A KR850001904B1 (en) 1983-12-31 1983-12-31 The feedback method for high speed control in a manipulator

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KR1019830006388A KR850001904B1 (en) 1983-12-31 1983-12-31 The feedback method for high speed control in a manipulator

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KR850001904B1 true KR850001904B1 (en) 1985-12-30

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