WO2018188276A1 - 一种六自由度机器人末端空间曲线轨迹的误差建模方法 - Google Patents
一种六自由度机器人末端空间曲线轨迹的误差建模方法 Download PDFInfo
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- WO2018188276A1 WO2018188276A1 PCT/CN2017/103080 CN2017103080W WO2018188276A1 WO 2018188276 A1 WO2018188276 A1 WO 2018188276A1 CN 2017103080 W CN2017103080 W CN 2017103080W WO 2018188276 A1 WO2018188276 A1 WO 2018188276A1
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- point
- trajectory
- error
- joint
- robot
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Classifications
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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
-
- 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
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0426—Programming the control sequence
-
- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
-
- 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
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39055—Correction of end effector attachment, calculated from model and real position
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40457—End effector position error
Definitions
- the invention belongs to the field of industrial robot end tracking error analysis, and relates to an end error model reflecting the deviation between a planned trajectory and an ideal trajectory.
- the model considers the influence of the interpolation algorithm and the joint link parameter error simultaneously, and can control the end tracking accuracy of the robot. Provide a certain theoretical basis.
- end tracking accuracy has become an important research content.
- the modern end error control mainly adopts the closed-loop control method.
- the closed-loop control algorithm can effectively improve the positioning and repeat positioning accuracy, it relies heavily on the measurement accuracy of the joint sensor and the end sensor, and also seriously complicates the robot structure and makes the continuous
- the tracking accuracy control problem of the trajectory becomes extremely difficult.
- For the planning of the end continuous trajectory there are two types, one is to interpolate in the operating space, one is to interpolate in the joint space, and in order to ensure the flexibility of each joint, the researchers will mostly reflect the ideal continuous trajectory curve.
- the invention aims to provide an error modeling method for a six-degree-of-freedom robot end space curve trajectory.
- the main feature of this method is that it also considers the interpolation algorithm operation and structural error, and provides a simple and practical error model for the continuous trajectory tracking problem of the robot, which provides a theoretical basis for controlling the tracking accuracy.
- the technical solution adopted by the present invention is an error modeling method for a six-degree-of-freedom robot end space curve trajectory, and the method comprises the following steps:
- N is determined by the specific operation task, and the displacement or angular displacement of each joint line is obtained based on the inverse solution model.
- Figure 1 is a schematic diagram of the space curve trajectory planning error.
- the invention is characterized in that the interpolation algorithm operation and the influence of the joint link structure errors are considered at the same time, and a more realistic error model is established for the continuous trajectory tracking task of the six-degree-of-freedom industrial robot, thereby providing a theoretical basis for realizing trajectory tracking precision control. .
- Figure 1 Schematic diagram of spatial curve trajectory planning error
- N path points are uniformly taken on the curve, and the joint angular displacement ⁇ of the arm is obtained by inverse solution.
- Step (2) Interpolation operation for each joint variable
- An interpolation algorithm is used to interpolate the joint variables, and the relationship between the i-th joint variable and the motion time is obtained as follows.
- a function value is taken every 20 ms on the function curve obtained according to the above formula, thereby obtaining M displacement values ⁇ i of each joint, and M corresponding trajectory points Q are calculated by the forward kinematics model.
- Step (3) Calculate the robot end track point
- the robot Since the end position of the robot is related to the displacement amount ⁇ i of each joint, and secondly, it is related to the parameters of the robot DH link, that is, the length a i of the member , the torsion angle ⁇ i of the member , the joint distance d i and the joint rotation angle ⁇ i , so the robot is
- the positive kinematics model is expressed as follows.
- the robot link parameters will produce errors during the manufacturing and assembly process, and this error will greatly affect the positioning accuracy of the robot end.
- the actual link parameters are known as a i + ⁇ a i , ⁇ i + ⁇ i , d i + ⁇ d i , ⁇ i + ⁇ i , when considering the structural error of each joint of the robot, the robot end position can be expressed as
- Pos(actual) g st ( ⁇ i , a i + ⁇ a i , ⁇ i + ⁇ i , d i + ⁇ d i , ⁇ i + ⁇ i )
- point P be a point on the trajectory of the ideal space curve
- point Q is on the normal line passing P point
- P 1 point is on the tangent line passing point P
- PQ ⁇ PP 1 the space coordinate of each point is P(x 0 , y 0 , z 0 ) and P 1 (x 1 , y 1 , z 1 ), which are true reflections of the deviation between the actual trajectory of the end and the ideal trajectory.
- the trajectory error E defined by this patent is the distance between the points P and Q. (When E approaches infinity, the planned trajectory coincides with the ideal trajectory).
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
Description
Claims (2)
- 一种六自由度机器人末端空间曲线轨迹的误差建模方法,其特征在于:该方法包括以下步骤:1)在空间曲线上选取N个路径点,N由具体操作任务确定,基于逆解模型得到各关节线位移或角位移;2)选用一种插值算法进行插值运算得到各关节变量与时间的函数关系式,每隔20ms取一点,得到M个关节变量,设由插值算法得到的总运动时间为T(s),则M=T/0.02;3)考虑机器人各关节结构误差,正解得到机器人末端M个相应的轨迹点Q;4)在理想轨迹曲线上取点P,使得Q为过P点的法线上一点,从而定义轨迹误差E为点P与Q间的距离大小,将问题转化为已知理想空间轨迹曲线方程与Q点坐标,求取误差E;当E趋近于无穷小时,规划轨迹与理想轨迹重合;5)根据曲线方程求得过P点的切线方程,结合条件PQ⊥PP1(P1为该切线上任一点),计算P点坐标,从而得到误差E。
- 根据权利要求1所述的一种六自由度机器人末端空间曲线轨迹的误差建模方法,其特征在于:步骤(1)求取关节变量设机器人末端操作空间任务曲线方程如下,在该曲线上均匀取N个路径点,通过逆解得到机械臂各关节角位移θ;步骤(2)针对各关节变量进行插值运算采用一种插值算法对关节变量进行插值计算,得到第i个关节变量与运动时间的函数关系式如下,θi=fi(t)在依据上式得到的函数曲线上每隔20ms取一个函数值,从而得到各关节的M个位移值θi,并通过正运动学模型计算得到M个相应的轨迹点Q;步骤(3)计算机器人末端轨迹点由于机器人末端位置与各关节位移量θi相关,其次也与机器人D-H连杆参 数相关,即杆件长度ai,杆件扭角αi,关节距离di及关节转角θi,因此将机器人正运动学模型表示如下,Pos=gst(θi,ai,αi,di,θi)实际上机器人连杆参数在制造和装配的过程中会产生误差,而这种误差会极大的影响机器人末端的定位精度,已知实际的连杆参数分别为ai+Δai,αi+Δαi,di+Δdi,θi+Δθi,当考虑机器人各关节的结构误差时,机器人末端位置可表示为,Pos(actual)=gst(θi,ai+Δai,αi+Δαi,di+Δdi,θi+Δθi)其中θi是由插值运算得到的,因此机器人末端实际位置也受到了插值算法的影响;通过将各关节的M个转角θi代入上式,可得到M个相应的末端位置点Q(X,Y,Z);步骤(4)计算误差E设点P为理想空间曲线轨迹上一点,且Q点在过P点的法线上,P1点在过P点的切线上,则PQ⊥PP1,设各点空间坐标为P(x0,y0,z0)和P1(x1,y1,z1),为真实的反映末端实际轨迹与理想轨迹间的偏差,定义轨迹误差E为点P与Q间的距离大小,当E趋近于无穷小时,规划轨迹与理想轨迹重合;由空间曲线函数可得曲线上过P点的切线方程如下,取x-x0=Δx,可由上式求得y-y0和z-z0,满足以下条件,最终由以上方程组可求得P点位置(x0,y0,z0),则误差E定义如下,
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US20190176325A1 (en) | 2019-06-13 |
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