WO2023213243A1 - Adaptive variable impedance electric driving system for robot, control method, and apparatus - Google Patents

Adaptive variable impedance electric driving system for robot, control method, and apparatus Download PDF

Info

Publication number
WO2023213243A1
WO2023213243A1 PCT/CN2023/091649 CN2023091649W WO2023213243A1 WO 2023213243 A1 WO2023213243 A1 WO 2023213243A1 CN 2023091649 W CN2023091649 W CN 2023091649W WO 2023213243 A1 WO2023213243 A1 WO 2023213243A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
drive system
joint
electric drive
torque
Prior art date
Application number
PCT/CN2023/091649
Other languages
French (fr)
Chinese (zh)
Inventor
朱世强
谢安桓
周伟刚
孔令雨
华强
程超
Original Assignee
之江实验室
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 之江实验室 filed Critical 之江实验室
Priority to JP2023559989A priority Critical patent/JP2024522425A/en
Publication of WO2023213243A1 publication Critical patent/WO2023213243A1/en

Links

Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • 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
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the invention belongs to the technical field of robot electric drive control, and specifically relates to a robot adaptive variable impedance electric drive system and a control method and device.
  • Robots are widely used in industrial, service and other application fields.
  • collaborative robots need to interact extensively with people and the environment during tasks, and legged robots need to have higher environmental adaptability during movement.
  • the traditional position control method can no longer meet the robot's ability to interact with people or the environment, and the robot needs to have a certain degree of compliance.
  • the electric drive system based on impedance control enables the robot to have certain compliance performance, but the stiffness and damping control parameters of the drive system are often constant. In order to make the robot have more intelligent and compliant performance in a changing environment, it is necessary to implement adaptive variable impedance control on the robot.
  • Robot compliance performance can usually be achieved through passive compliance and active compliance control.
  • the passive compliance method makes the robot have certain compliance performance by designing additional mechanical structures, but it will increase the size of the robot drive system and cannot achieve a wide range of stiffness damping adjustment.
  • Active compliance control can achieve the robot's compliance performance by controlling the motion relationship between the robot's position, speed and force. It is achieved by setting the equivalent stiffness and damping control parameters of the robot. However, a single stiffness and damping control parameter cannot meet the performance of intelligent and compliant interaction between robots and different changing environments.
  • the robot can achieve better compliance performance by adaptive variable impedance control based on the interactive environment.
  • the present invention proposes a robot adaptive variable impedance electric drive system and a control method and device.
  • the technical solution of the present invention is: the first aspect of the embodiment of the present invention provides a control method for a robot adaptive variable impedance electric drive system.
  • the method specifically includes:
  • Acquire electric drive system sensor signals including motor current or drive joint torque, rotational speed and position signals
  • adaptive setting of stiffness parameters includes:
  • the stiffness parameter includes three parameter intervals, and the formula is as follows:
  • K is the set stiffness parameter
  • K c is the stiffness parameter constant setting value
  • ⁇ is the first stiffness parameter adjustment coefficient
  • ⁇ is the second stiffness parameter adjustment coefficient
  • h 1 is the lower limit of the first stiffness parameter adjustment coefficient limit
  • h 2 is the upper limit of the second stiffness parameter adjustment coefficient.
  • calculating the joint damping parameters of the electric drive system based on the driving joint speed and torque includes: initially setting a damping constant, calculating an adaptive damping increment, and superposing the initially set damping constant and the adaptive damping increment to obtain a real-time calculated Joint damping parameters of the electric drive system.
  • the adaptive damping increment is the product of the differential component of the driving joint torque and the weight coefficient.
  • ⁇ is the control moment of the driving joint
  • K is the stiffness parameter
  • q d is the desired position of the driving joint
  • q is the actual position of the driving joint
  • D is the joint damping parameter
  • C is the Coriolis force and centrifugal force terms
  • G is the gravity term.
  • a second aspect of the embodiment of the present invention provides a robot adaptive variable impedance electric drive system, used to implement the above control method of the robot adaptive variable impedance electric drive system, including:
  • the permanent magnet synchronous motor outputs speed and torque after being decelerated by a planetary reducer and amplifying the torque
  • the encoder is installed on the side of the permanent magnet synchronous motor and is used to collect the speed and position signals of the permanent magnet synchronous motor;
  • the adaptive variable impedance controller receives the current, torque, speed and position signals corresponding to the permanent magnet synchronous motor; adaptively sets the stiffness parameters according to the robot motion operation scenario; calculates the joint damping parameters of the electric drive system based on the drive joint speed and torque.
  • the stiffness parameters and joint damping parameters determine the required torque of the joints of the electric drive system, thereby performing closed-loop adaptive control of the robot drive joints based on the impedance control method of the force inner loop.
  • the system further includes a torque sensor, which is arranged at the output end of the planetary reducer and is used to measure the output torque of the drive system.
  • a third aspect of the embodiment of the present invention provides a control device for a robot's adaptive variable impedance electric drive system, which includes one or more processors and is used for the above control method of the robot's adaptive variable impedance electric drive system.
  • a fourth aspect of the embodiment of the present invention provides a computer-readable storage medium on which a program is stored.
  • the program is executed by a processor, it is used to implement the above-mentioned control method of a robot adaptive variable impedance electric drive system.
  • the present invention has the following beneficial effects: the robot's drive system adopts a motor It has better force control performance than the low-speed reducer, and directly uses the active control method to enable the robot to adjust the stiffness and damping of the robot's electric drive joint system online in real time according to the robot motor current or drive joint torque, rotation speed, and robot motion operation requirements. , without the need to add additional flexible mechanical components, to achieve the purpose of making the robot more intelligent and pliable, which is conducive to improving the interactive ability of collaborative robots and the walking ability of footed robots.
  • Figure 1 is a flow chart of the control method of the robot's adaptive variable impedance electric drive system
  • Figure 2 is the composition diagram of the robot's adaptive variable impedance electric drive system
  • Figure 3 shows the impact acceleration of a robot using a position control (no buffer) electric drive system when it jumps and falls to the ground;
  • Figure 4 shows the impact acceleration of a robot using an adaptive variable impedance electric drive system when it jumps and falls to the ground;
  • Figure 5 is a schematic diagram of a control device of a robot adaptive variable impedance electric drive system provided by an embodiment of the present invention.
  • first, second, third, etc. may be used in the present invention to describe various information, the information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other.
  • first information may also be called second information, and similarly, the second information may also be called first information.
  • word “if” as used herein may be interpreted as "when” or “when” or “in response to determining.”
  • the present invention proposes a control method for a robot's adaptive variable impedance electric drive system.
  • the method includes:
  • sensor signals of the electric drive system including motor current or drive joint torque, rotation speed and position signals; the drive joint torque can be measured by a torque sensor or estimated by joint current.
  • the stiffness parameters are adaptively set.
  • the electric drive system provided by the invention includes:
  • the permanent magnet synchronous motor outputs speed and torque after being decelerated by a planetary reducer.
  • the encoder is installed on the side of the permanent magnet synchronous motor and is used to collect the speed and position signals of the permanent magnet synchronous motor.
  • the adaptive variable impedance controller receives the current, torque, speed and position signals corresponding to the permanent magnet synchronous motor; adaptively sets the stiffness parameters according to the robot motion operation scenario; calculates the joint damping parameters of the electric drive system based on the drive joint speed and torque.
  • the stiffness parameters and joint damping parameters determine the required torque of the joints of the electric drive system, thereby performing closed-loop adaptive control of the robot drive joints based on the impedance control method of the force inner loop.
  • the electric drive system provided by the present invention may also include: a torque sensor for measuring the output torque at the reducer end.
  • the adaptive setting stiffness parameters can be expressed as:
  • K is the set stiffness parameter
  • K c is the stiffness parameter constant setting value
  • ⁇ is the first stiffness parameter adjustment coefficient
  • ⁇ is the second stiffness parameter adjustment coefficient
  • h 1 is the lower limit of the first stiffness parameter adjustment coefficient limit
  • h 2 is the upper limit of the second stiffness parameter adjustment coefficient.
  • different levels of stiffness control parameters need to be customized based on the robot's motion working scene information. For example, when the legged robot lands, the smaller stiffness is adaptively adjusted to achieve buffering, and when the legged robot is pedaling, the larger stiffness is adaptively adjusted to obtain Maximum movement speed. And it is necessary to comprehensively and adaptively adjust the stiffness parameter values based on factors such as the weight of the robot itself and actual road conditions.
  • Calculate the joint damping parameters of the electric drive system based on the acquired drive joint speed and torque specifically: initially set a damping constant, calculate the adaptive damping increment, and superimpose the initial set damping constant and the adaptive damping increment to obtain a real-time calculation joint damping parameters of the electric drive system.
  • the adaptive damping increment is the differential component and weight of the driving joint torque. product of coefficients.
  • D is the damping parameter calculated in real time
  • D c is the initial set damping constant
  • Q is the adaptive damping increment
  • eta is the weight coefficient
  • the damping control parameters of the adaptive variable impedance controller can adaptively adjust the appropriate damping parameters in real time according to the rate of change of the torque received.
  • the joint demand torque of the electric drive system is determined according to the stiffness parameters and joint damping parameters, and the robot drive joints are closed-loop adaptive control based on the impedance control method of the force inner loop.
  • the driving joint control torque can be calculated by collecting torque sensor signals or motor current.
  • the joint demand torque of the electric drive system can be expressed as:
  • ⁇ is the driving joint control torque
  • q d is the desired position of the joint
  • q is the actual position of the joint
  • C is the Coriolis force and centrifugal force terms
  • G is the gravity term.
  • Figure 3 shows the impact acceleration of a robot using a position control (no buffering) electric drive system when jumping and falling to the ground
  • Figure 4 shows the impact acceleration of a robot using an adaptive variable impedance electric drive system when it jumps and falls to the ground. It can be seen from the comparison between Figure 3 and Figure 4 that through the method of the present invention, the motion buffering and shock-absorbing ability of the robot when jumping and falling to the ground can be significantly enhanced, and the robot system can adaptively adjust its own control stiffness and damping characteristics according to application requirements in a wide range.
  • the robot driving system of the present invention does not need to add additional mechanical components such as elasticity and damping. It directly changes the stiffness and damping of the robot driving system in real time according to different operating scenarios and tasks through active control methods, making the robot more intelligent.
  • the purpose of compliance is to improve the interaction ability between the robot and the environment, especially the motion buffering and shock-absorbing ability of the footed robot.
  • the present invention also provides embodiments of the control device of the robot's adaptive variable impedance electric drive system.
  • an embodiment of the present invention provides a control device for a robot's adaptive variable impedance electric drive system, which includes one or more processors for realizing control of the robot's adaptive variable impedance electric drive system in the above embodiment. method.
  • Embodiments of the control device of the robot adaptive variable impedance electric drive system of the present invention can be applied to any device with data processing capabilities, and any device with data processing capabilities can be a device or device such as a computer.
  • the device embodiments may be implemented by software, or may be implemented by hardware or a combination of software and hardware.
  • Implemented in software For example, as a logical device, it is formed by reading the corresponding computer program instructions in the non-volatile memory into the memory and running them by the processor of any device with data processing capabilities. From the hardware level, as shown in Figure 5, it is a hardware structure diagram of any device with data processing capabilities where the control device of the robot adaptive variable impedance electric drive system of the present invention is located.
  • any device with data processing capabilities where the device in the embodiment is located may also include other hardware based on the actual functions of any device with data processing capabilities. This is not the case. Again.
  • the device embodiment since it basically corresponds to the method embodiment, please refer to the partial description of the method embodiment for relevant details.
  • the device embodiments described above are only illustrative.
  • the units described as separate components may or may not be physically separated.
  • the components shown as units may or may not be physical units, that is, they may be located in One location, or it can be distributed across multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of the present invention. Persons of ordinary skill in the art can understand and implement the method without any creative effort.
  • Embodiments of the present invention also provide a computer-readable storage medium on which a program is stored.
  • the program is executed by a processor, the control method of the robot's adaptive variable impedance electric drive system in the above embodiments is implemented.
  • the computer-readable storage medium may be an internal storage unit of any device with data processing capabilities as described in any of the foregoing embodiments, such as a hard disk or a memory.
  • the computer-readable storage medium can also be any device with data processing capabilities, such as a plug-in hard disk, smart memory card (SMC), SD card, flash card (Flash Card) equipped on the device wait.
  • the computer-readable storage medium may also include both an internal storage unit and an external storage device of any device with data processing capabilities.
  • the computer-readable storage medium is used to store the computer program and other programs and data required by any device with data processing capabilities, and can also be used to temporarily store data that has been output or is to be output.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Feedback Control In General (AREA)
  • Manipulator (AREA)

Abstract

An adaptive variable impedance electric driving system for a robot and a control method therefor. An embodiment comprises: acquiring electric driving system sensor signals comprising a motor current or a drive joint torque, a rotational speed, and a position signal; adaptively configuring stiffness parameters according to a movement and operation scenario of a robot; calculating a joint damping parameter of the electric driving system according to the rotational speed and the torque of a driving joint; determining a necessary joint torque of the electric driving system according to the stiffness parameters and the joint damping parameter, so as to perform closed-loop adaptive control on the robot driving joint on the basis of an impedance control mode of a force inner loop. The robot driving system does not need the addition of mechanical parts such as additional elastic and damping parts, the stiffness and damping of the robot driving system are directly altered in real time by means of an active control method, causing the robot to be more intelligent and limber, and improvement of interactivity of the robot with the environment is facilitated, especially movement buffering and damping capacity of legged robots. The present invention further relates to an adaptive variable impedance electric driving system for a robot and a computer readable storage medium.

Description

一种机器人自适应变阻抗电驱动***及控制方法、装置A robot adaptive variable impedance electric drive system and control method and device 技术领域Technical field
本发明属于机器人电驱动控制技术领域，具体涉及一种机器人自适应变阻抗电驱动***及控制方法、装置。The invention belongs to the technical field of robot electric drive control, and specifically relates to a robot adaptive variable impedance electric drive system and a control method and device.
背景技术Background technique
机器人广泛应用于工业、服务等应用领域。对于协作与足式机器人，协作机器人在作业任务时需要与人和环境大量交互，足式机器人在运动过程中需要具备更高的环境适应性。传统的位置控制方式已不能满足机器人与人或环境交互能力，机器人需要具备一定的柔顺性能。基于阻抗控制的电驱动***使机器人能够具备一定的柔顺性能，但驱动***刚度与阻尼控制参数往往是恒定的。为使机器人在变化的环境中具备更智能的柔顺性能，需要对机器人进行自适应变阻抗控制。Robots are widely used in industrial, service and other application fields. For collaborative and legged robots, collaborative robots need to interact extensively with people and the environment during tasks, and legged robots need to have higher environmental adaptability during movement. The traditional position control method can no longer meet the robot's ability to interact with people or the environment, and the robot needs to have a certain degree of compliance. The electric drive system based on impedance control enables the robot to have certain compliance performance, but the stiffness and damping control parameters of the drive system are often constant. In order to make the robot have more intelligent and compliant performance in a changing environment, it is necessary to implement adaptive variable impedance control on the robot.
机器人柔顺性能通常可以通过被动柔顺和主动柔顺控制实现。被动柔顺方式通过设计额外的机械结构使机器人具备一定的柔顺性能，但会使机器人驱动***体积增大并且不能实现较大范围的刚度阻尼调节。主动柔顺控制可以通过控制机器人位置、速度及力三者运动关系来实现机器人的柔顺性能，其通过设定机器人的等效刚度与阻尼控制参数来实现。但单一的刚度与阻尼控制参数并不能满足机器人与变化的不同环境智能柔顺交互的性能。机器人根据交互环境进行自适应变阻抗控制能达到更好的柔顺性能。Robot compliance performance can usually be achieved through passive compliance and active compliance control. The passive compliance method makes the robot have certain compliance performance by designing additional mechanical structures, but it will increase the size of the robot drive system and cannot achieve a wide range of stiffness damping adjustment. Active compliance control can achieve the robot's compliance performance by controlling the motion relationship between the robot's position, speed and force. It is achieved by setting the equivalent stiffness and damping control parameters of the robot. However, a single stiffness and damping control parameter cannot meet the performance of intelligent and compliant interaction between robots and different changing environments. The robot can achieve better compliance performance by adaptive variable impedance control based on the interactive environment.
发明内容Contents of the invention
针对现有技术的不足，本发明提出了一种机器人自适应变阻抗电驱动***及控制方法、装置。In view of the shortcomings of the existing technology, the present invention proposes a robot adaptive variable impedance electric drive system and a control method and device.
为实现上述发明目的，本发明的技术方案为：本发明实施例的第一方面提供了一种机器人自适应变阻抗电驱动***的控制方法，所述方法具体包括：In order to achieve the above-mentioned object of the invention, the technical solution of the present invention is: the first aspect of the embodiment of the present invention provides a control method for a robot adaptive variable impedance electric drive system. The method specifically includes:
获取包括电机电流或驱动关节力矩、转速及位置信号在内的电驱动***传感器信号；Acquire electric drive system sensor signals including motor current or drive joint torque, rotational speed and position signals;
根据机器人运动作业场景，自适应设置刚度参数；Adaptively set stiffness parameters according to the robot motion operation scenario;
根据驱动关节转速和力矩计算电驱动***关节阻尼参数，根据刚度参数和关节阻尼参数确定电驱动***关节需求力矩，以此基于力内环的阻抗控制方式对机器人驱动关节进行闭环自适应控制。Calculate the joint damping parameters of the electric drive system based on the rotation speed and torque of the drive joints, determine the joint demand torque of the electric drive system based on the stiffness parameters and joint damping parameters, and perform closed-loop adaptive control of the robot drive joints based on the impedance control method of the force inner loop.
进一步地，自适应设置刚度参数包括：Further, adaptive setting of stiffness parameters includes:
刚度参数包括三个参数区间，公式如下：
The stiffness parameter includes three parameter intervals, and the formula is as follows:
式中，K为设定的刚度参数，Kc为刚度参数常量设定值，α为第一刚度参数调节系数，β为第二刚度参数调节系数，h1为第一刚度参数调节系数的下限值，h2为第二刚度参数调节系数的上限值。In the formula, K is the set stiffness parameter, K c is the stiffness parameter constant setting value, α is the first stiffness parameter adjustment coefficient, β is the second stiffness parameter adjustment coefficient, h 1 is the lower limit of the first stiffness parameter adjustment coefficient limit, h 2 is the upper limit of the second stiffness parameter adjustment coefficient.
进一步地，根据驱动关节转速和力矩计算电驱动***关节阻尼参数包括：初始设定一阻尼常量，计算自适应阻尼增量，将初始设定的阻尼常量与自适应阻尼增量叠加得到实时计算的电驱动***关节阻尼参数。Further, calculating the joint damping parameters of the electric drive system based on the driving joint speed and torque includes: initially setting a damping constant, calculating an adaptive damping increment, and superposing the initially set damping constant and the adaptive damping increment to obtain a real-time calculated Joint damping parameters of the electric drive system.
进一步地，自适应阻尼增量为驱动关节力矩的微分量与权重系数的乘积。Further, the adaptive damping increment is the product of the differential component of the driving joint torque and the weight coefficient.
进一步地，根据计算的刚度参数和关节阻尼参数确定电驱动***关节需求力矩的公式如下：
Furthermore, the formula for determining the joint demand torque of the electric drive system based on the calculated stiffness parameters and joint damping parameters is as follows:
其中，τ为驱动关节控制力矩，K为刚度参数，qd为驱动关节期望位置，q为驱动关节实际位置，D为关节阻尼参数，C为科氏力与离心力项，G为重力项。Among them, τ is the control moment of the driving joint, K is the stiffness parameter, q d is the desired position of the driving joint, q is the actual position of the driving joint, D is the joint damping parameter, C is the Coriolis force and centrifugal force terms, and G is the gravity term.
本发明实施例的第二方面提供了一种机器人自适应变阻抗电驱动***，用于实现上述的机器人自适应变阻抗电驱动***的控制方法，包括：A second aspect of the embodiment of the present invention provides a robot adaptive variable impedance electric drive system, used to implement the above control method of the robot adaptive variable impedance electric drive system, including:
永磁同步电机，经行星减速器减速、放大力矩后输出转速和力矩；The permanent magnet synchronous motor outputs speed and torque after being decelerated by a planetary reducer and amplifying the torque;
编码器，安装在永磁同步电机侧，用于采集永磁同步电机的转速及位置信号；The encoder is installed on the side of the permanent magnet synchronous motor and is used to collect the speed and position signals of the permanent magnet synchronous motor;
自适应变阻抗控制器，接收永磁同步电机对应的电流、力矩、转速及位置信号；根据机器人运动作业场景，自适应设置刚度参数；根据驱动关节转速和力矩计算电驱动***关节阻尼参数，根据刚度参数和关节阻尼参数确定电驱动***关节需求力矩，以此基于力内环的阻抗控制方式对机器人驱动关节进行闭环自适应控制。The adaptive variable impedance controller receives the current, torque, speed and position signals corresponding to the permanent magnet synchronous motor; adaptively sets the stiffness parameters according to the robot motion operation scenario; calculates the joint damping parameters of the electric drive system based on the drive joint speed and torque. The stiffness parameters and joint damping parameters determine the required torque of the joints of the electric drive system, thereby performing closed-loop adaptive control of the robot drive joints based on the impedance control method of the force inner loop.
进一步地，所述***还包括力矩传感器，设置于行星减速器的输出端，用于测量驱动***的输出力矩。Furthermore, the system further includes a torque sensor, which is arranged at the output end of the planetary reducer and is used to measure the output torque of the drive system.
本发明实施例的第三方面提供了一种机器人自适应变阻抗电驱动***的控制装置，包括一个或多个处理器，用于上述的机器人自适应变阻抗电驱动***的控制方法。A third aspect of the embodiment of the present invention provides a control device for a robot's adaptive variable impedance electric drive system, which includes one or more processors and is used for the above control method of the robot's adaptive variable impedance electric drive system.
本发明实施例的第四方面提供了一种计算机可读存储介质，其上存储有程序，该程序被处理器执行时，用于实现上述的机器人自适应变阻抗电驱动***的控制方法。A fourth aspect of the embodiment of the present invention provides a computer-readable storage medium on which a program is stored. When the program is executed by a processor, it is used to implement the above-mentioned control method of a robot adaptive variable impedance electric drive system.
本发明与传统机器人电驱动***相比具有以下有益效果：机器人的驱动***采用电机 与低速比减速器具有更好的力控性能，并且直接通过主动控制的方法使机器人能够根据机器人电机电流或驱动关节力矩、转速以及机器人运动作业需求，在线实时调整机器人电驱动关节***刚度与阻尼，无需增加额外的柔性机械元件，达到使机器人更智能柔顺的目的，有利于提高协作机器人交互能力和足式机器人运动行走能力。Compared with the traditional robot electric drive system, the present invention has the following beneficial effects: the robot's drive system adopts a motor It has better force control performance than the low-speed reducer, and directly uses the active control method to enable the robot to adjust the stiffness and damping of the robot's electric drive joint system online in real time according to the robot motor current or drive joint torque, rotation speed, and robot motion operation requirements. , without the need to add additional flexible mechanical components, to achieve the purpose of making the robot more intelligent and pliable, which is conducive to improving the interactive ability of collaborative robots and the walking ability of footed robots.
附图说明Description of the drawings
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting any creative effort.
图1是机器人自适应变阻抗电驱动***控制方法流程图；Figure 1 is a flow chart of the control method of the robot's adaptive variable impedance electric drive system;
图2是机器人自适应变阻抗电驱动***组成图；Figure 2 is the composition diagram of the robot's adaptive variable impedance electric drive system;
图3是采用位置控制(无缓冲)电驱动***机器人跳跃跌落地面冲击加速度；Figure 3 shows the impact acceleration of a robot using a position control (no buffer) electric drive system when it jumps and falls to the ground;
图4是采用自适应变阻抗电驱动***机器人跳跃跌落地面冲击加速度；Figure 4 shows the impact acceleration of a robot using an adaptive variable impedance electric drive system when it jumps and falls to the ground;
图5是本发明实施例提供的一种机器人自适应变阻抗电驱动***的控制装置的示意图。Figure 5 is a schematic diagram of a control device of a robot adaptive variable impedance electric drive system provided by an embodiment of the present invention.
具体实施方式Detailed ways
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本发明相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本发明的一些方面相一致的装置和方法的例子。Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the invention. Rather, they are merely examples of apparatus and methods consistent with aspects of the invention as detailed in the appended claims.
在本发明使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本发明。在本发明和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this disclosure and the appended claims, the singular forms "a," "the" and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It will also be understood that the term "and/or" as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.
应当理解，尽管在本发明可能采用术语第一、第二、第三等来描述各种信息，但这些信息不应限于这些术语。这些术语仅用来将同一类型的信息彼此区分开。例如，在不脱离本发明范围的情况下，第一信息也可以被称为第二信息，类似地，第二信息也可以被称为第一信息。取决于语境，如在此所使用的词语“如果”可以被解释成为“在……时”或“当……时”或“响应于确定”。It should be understood that although the terms first, second, third, etc. may be used in the present invention to describe various information, the information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of the present invention, the first information may also be called second information, and similarly, the second information may also be called first information. Depending on the context, the word "if" as used herein may be interpreted as "when" or "when" or "in response to determining."
下面结合附图，对本发明进行详细说明。在不冲突的情况下，下述的实施例及实施方式中的特征可以相互组合。 The present invention will be described in detail below with reference to the accompanying drawings. Features in the following embodiments and implementations may be combined with each other without conflict.
如图1所示，本发明提出了一种机器人自适应变阻抗电驱动***控制方法，所述方法包括：As shown in Figure 1, the present invention proposes a control method for a robot's adaptive variable impedance electric drive system. The method includes:
获取包括电机电流或驱动关节力矩、转速及位置信号在内的电驱动***传感器信号；其中，驱动关节力矩可以通过力矩传感器测量，或通过关节电流估计。Obtain sensor signals of the electric drive system including motor current or drive joint torque, rotation speed and position signals; the drive joint torque can be measured by a torque sensor or estimated by joint current.
根据机器人运动作业场景，自适应设置刚度参数。According to the robot motion operation scenario, the stiffness parameters are adaptively set.
根据驱动关节转速和力矩计算电驱动***关节阻尼参数，根据预设的刚度参数和关节阻尼参数确定电驱动***关节需求力矩，以此基于力内环的阻抗控制方式对机器人驱动关节进行闭环自适应控制。Calculate the joint damping parameters of the electric drive system based on the rotation speed and torque of the drive joints, determine the joint demand torque of the electric drive system based on the preset stiffness parameters and joint damping parameters, and perform closed-loop adaptation of the robot drive joints based on the impedance control method of the force inner loop. control.
本发明提供的电驱动***包括：The electric drive system provided by the invention includes:
永磁同步电机，经行星减速器减速后输出转速和力矩。The permanent magnet synchronous motor outputs speed and torque after being decelerated by a planetary reducer.
编码器，安装在永磁同步电机侧，用于采集永磁同步电机的转速及位置信号。The encoder is installed on the side of the permanent magnet synchronous motor and is used to collect the speed and position signals of the permanent magnet synchronous motor.
自适应变阻抗控制器，接收永磁同步电机对应的电流、力矩、转速及位置信号；根据机器人运动作业场景，自适应设置刚度参数；根据驱动关节转速和力矩计算电驱动***关节阻尼参数，根据刚度参数和关节阻尼参数确定电驱动***关节需求力矩，以此基于力内环的阻抗控制方式对机器人驱动关节进行闭环自适应控制。The adaptive variable impedance controller receives the current, torque, speed and position signals corresponding to the permanent magnet synchronous motor; adaptively sets the stiffness parameters according to the robot motion operation scenario; calculates the joint damping parameters of the electric drive system based on the drive joint speed and torque. The stiffness parameters and joint damping parameters determine the required torque of the joints of the electric drive system, thereby performing closed-loop adaptive control of the robot drive joints based on the impedance control method of the force inner loop.
进一步地，本发明提供的电驱动***还可包括：力矩传感器，用于测量减速器端输出力矩。Further, the electric drive system provided by the present invention may also include: a torque sensor for measuring the output torque at the reducer end.
其中，自适应设置刚度参数可以表示为：
Among them, the adaptive setting stiffness parameters can be expressed as:
式中，K为设定的刚度参数，Kc为刚度参数常量设定值，α为第一刚度参数调节系数，β为第二刚度参数调节系数，h1为第一刚度参数调节系数的下限值，h2为第二刚度参数调节系数的上限值。本实例中，需要根据机器人运动作业场景信息自定义设定不同等级的刚度控制参数，例如在足式机器人在落地时自适应调整较小刚度以实现缓冲，蹬地时自适应调整较大刚度获得较大运动速度。并且还需基于机器人本身的重量以及实际路况等因素来综合自适应调节刚度参数值。In the formula, K is the set stiffness parameter, K c is the stiffness parameter constant setting value, α is the first stiffness parameter adjustment coefficient, β is the second stiffness parameter adjustment coefficient, h 1 is the lower limit of the first stiffness parameter adjustment coefficient limit, h 2 is the upper limit of the second stiffness parameter adjustment coefficient. In this example, different levels of stiffness control parameters need to be customized based on the robot's motion working scene information. For example, when the legged robot lands, the smaller stiffness is adaptively adjusted to achieve buffering, and when the legged robot is pedaling, the larger stiffness is adaptively adjusted to obtain Maximum movement speed. And it is necessary to comprehensively and adaptively adjust the stiffness parameter values based on factors such as the weight of the robot itself and actual road conditions.
根据获取的驱动关节转速和力矩计算电驱动***关节阻尼参数，具体为：初始设定一阻尼常量，计算自适应阻尼增量，将初始设定的阻尼常量与自适应阻尼增量叠加得到实时计算的电驱动***关节阻尼参数。其中，自适应阻尼增量为驱动关节力矩的微分量与权重 系数的乘积。Calculate the joint damping parameters of the electric drive system based on the acquired drive joint speed and torque, specifically: initially set a damping constant, calculate the adaptive damping increment, and superimpose the initial set damping constant and the adaptive damping increment to obtain a real-time calculation joint damping parameters of the electric drive system. Among them, the adaptive damping increment is the differential component and weight of the driving joint torque. product of coefficients.
电驱动***关节阻尼参数可以表示为：
D＝Dc+Q
The joint damping parameters of the electric drive system can be expressed as:
D＝D c +Q
式中，D为实时计算的阻尼参数，Dc为初始设定阻尼常量，Q为自适应阻尼增量，η为权重系数，为驱动关节力矩微分量。在本实例中，自适应变阻抗控制器阻尼控制参数可以根据所受力矩变化速率自适应实时调整合适的阻尼参数。In the formula, D is the damping parameter calculated in real time, D c is the initial set damping constant, Q is the adaptive damping increment, eta is the weight coefficient, is the differential component of the driving joint torque. In this example, the damping control parameters of the adaptive variable impedance controller can adaptively adjust the appropriate damping parameters in real time according to the rate of change of the torque received.
根据刚度参数和关节阻尼参数确定电驱动***关节需求力矩，以此基于力内环的阻抗控制方式对机器人驱动关节进行闭环自适应控制。The joint demand torque of the electric drive system is determined according to the stiffness parameters and joint damping parameters, and the robot drive joints are closed-loop adaptive control based on the impedance control method of the force inner loop.
其中，驱动关节控制力矩可以通过采集力矩传感器信号或者电机电流计算而得。Among them, the driving joint control torque can be calculated by collecting torque sensor signals or motor current.
电驱动***关节需求力矩可以表示为：
The joint demand torque of the electric drive system can be expressed as:
其中τ为驱动关节控制力矩，qd为关节期望位置，q为关节实际位置，C为科氏力与离心力项，G为重力项。Among them, τ is the driving joint control torque, q d is the desired position of the joint, q is the actual position of the joint, C is the Coriolis force and centrifugal force terms, and G is the gravity term.
图3是采用位置控制(无缓冲)电驱动***机器人跳跃跌落地面冲击加速度；图4是采用自适应变阻抗电驱动***机器人跳跃跌落地面冲击加速度。由图3和图4对比可知，通过本发明方法处理，可以使机器人跳跃跌落地面的运动缓冲减震能力明显增强，且机器人***可以较大范围根据应用需求自适应调节自身控制刚度与阻尼特性。Figure 3 shows the impact acceleration of a robot using a position control (no buffering) electric drive system when jumping and falling to the ground; Figure 4 shows the impact acceleration of a robot using an adaptive variable impedance electric drive system when it jumps and falls to the ground. It can be seen from the comparison between Figure 3 and Figure 4 that through the method of the present invention, the motion buffering and shock-absorbing ability of the robot when jumping and falling to the ground can be significantly enhanced, and the robot system can adaptively adjust its own control stiffness and damping characteristics according to application requirements in a wide range.
综上所述，本发明机器人驱动***无需增加的额外弹性和阻尼等机械元件，直接通过主动控制的方法根据不同的作业场景、作业任务在线实时改变机器人驱动***的刚度与阻尼使机器人达到更智能柔顺的目的，有利于提高机器人与环境的交互能力特别是足式机器人运动缓冲减震能力。To sum up, the robot driving system of the present invention does not need to add additional mechanical components such as elasticity and damping. It directly changes the stiffness and damping of the robot driving system in real time according to different operating scenarios and tasks through active control methods, making the robot more intelligent. The purpose of compliance is to improve the interaction ability between the robot and the environment, especially the motion buffering and shock-absorbing ability of the footed robot.
与前述机器人自适应变阻抗电驱动***的控制方法的实施例相对应，本发明还提供了机器人自适应变阻抗电驱动***的控制装置的实施例。Corresponding to the embodiments of the control method of the robot's adaptive variable impedance electric drive system, the present invention also provides embodiments of the control device of the robot's adaptive variable impedance electric drive system.
参见图5，本发明实施例提供的一种机器人自适应变阻抗电驱动***的控制装置，包括一个或多个处理器，用于实现上述实施例中的机器人自适应变阻抗电驱动***的控制方法。Referring to Figure 5, an embodiment of the present invention provides a control device for a robot's adaptive variable impedance electric drive system, which includes one or more processors for realizing control of the robot's adaptive variable impedance electric drive system in the above embodiment. method.
本发明机器人自适应变阻抗电驱动***的控制装置的实施例可以应用在任意具备数据处理能力的设备上，该任意具备数据处理能力的设备可以为诸如计算机等设备或装置。装置实施例可以通过软件实现，也可以通过硬件或者软硬件结合的方式实现。以软件实现为 例，作为一个逻辑意义上的装置，是通过其所在任意具备数据处理能力的设备的处理器将非易失性存储器中对应的计算机程序指令读取到内存中运行形成的。从硬件层面而言，如图5所示，为本发明机器人自适应变阻抗电驱动***的控制装置所在任意具备数据处理能力的设备的一种硬件结构图，除了图5所示的处理器、内存、网络接口、以及非易失性存储器之外，实施例中装置所在的任意具备数据处理能力的设备通常根据该任意具备数据处理能力的设备的实际功能，还可以包括其他硬件，对此不再赘述。Embodiments of the control device of the robot adaptive variable impedance electric drive system of the present invention can be applied to any device with data processing capabilities, and any device with data processing capabilities can be a device or device such as a computer. The device embodiments may be implemented by software, or may be implemented by hardware or a combination of software and hardware. Implemented in software For example, as a logical device, it is formed by reading the corresponding computer program instructions in the non-volatile memory into the memory and running them by the processor of any device with data processing capabilities. From the hardware level, as shown in Figure 5, it is a hardware structure diagram of any device with data processing capabilities where the control device of the robot adaptive variable impedance electric drive system of the present invention is located. In addition to the processor shown in Figure 5, In addition to memory, network interfaces, and non-volatile memories, any device with data processing capabilities where the device in the embodiment is located may also include other hardware based on the actual functions of any device with data processing capabilities. This is not the case. Again.
上述装置中各个单元的功能和作用的实现过程具体详见上述方法中对应步骤的实现过程，在此不再赘述。For details on the implementation process of the functions and effects of each unit in the above device, please refer to the implementation process of the corresponding steps in the above method, and will not be described again here.
对于装置实施例而言，由于其基本对应于方法实施例，所以相关之处参见方法实施例的部分说明即可。以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本发明方案的目的。本领域普通技术人员在不付出创造性劳动的情况下，即可以理解并实施。As for the device embodiment, since it basically corresponds to the method embodiment, please refer to the partial description of the method embodiment for relevant details. The device embodiments described above are only illustrative. The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in One location, or it can be distributed across multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of the present invention. Persons of ordinary skill in the art can understand and implement the method without any creative effort.
本发明实施例还提供一种计算机可读存储介质，其上存储有程序，该程序被处理器执行时，实现上述实施例中的机器人自适应变阻抗电驱动***的控制方法。Embodiments of the present invention also provide a computer-readable storage medium on which a program is stored. When the program is executed by a processor, the control method of the robot's adaptive variable impedance electric drive system in the above embodiments is implemented.
所述计算机可读存储介质可以是前述任一实施例所述的任意具备数据处理能力的设备的内部存储单元，例如硬盘或内存。所述计算机可读存储介质也可以是任意具备数据处理能力的设备，例如所述设备上配备的插接式硬盘、智能存储卡(Smart Media Card，SMC)、SD卡、闪存卡(Flash Card)等。进一步的，所述计算机可读存储介质还可以既包括任意具备数据处理能力的设备的内部存储单元也包括外部存储设备。所述计算机可读存储介质用于存储所述计算机程序以及所述任意具备数据处理能力的设备所需的其他程序和数据，还可以用于暂时地存储已经输出或者将要输出的数据。The computer-readable storage medium may be an internal storage unit of any device with data processing capabilities as described in any of the foregoing embodiments, such as a hard disk or a memory. The computer-readable storage medium can also be any device with data processing capabilities, such as a plug-in hard disk, smart memory card (SMC), SD card, flash card (Flash Card) equipped on the device wait. Furthermore, the computer-readable storage medium may also include both an internal storage unit and an external storage device of any device with data processing capabilities. The computer-readable storage medium is used to store the computer program and other programs and data required by any device with data processing capabilities, and can also be used to temporarily store data that has been output or is to be output.
以上应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。 The principles and implementations of the present invention have been explained above using specific examples. The description of the above embodiments is only used to help understand the method and the core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the present invention Ideas, specific implementations, and application scopes may all be subject to change. In summary, the contents of this description should not be construed as limiting the present invention.

Claims (9)

  1. 一种机器人自适应变阻抗电驱动***的控制方法，其特征在于，所述方法具体包括：A control method for a robot adaptive variable impedance electric drive system, characterized in that the method specifically includes:
    获取包括电机电流或驱动关节力矩、转速及位置信号在内的电驱动***传感器信号；Acquire electric drive system sensor signals including motor current or drive joint torque, rotational speed and position signals;
    根据机器人运动作业场景，自适应设置刚度参数；Adaptively set stiffness parameters according to the robot motion operation scenario;
    根据驱动关节转速和力矩计算电驱动***关节阻尼参数，根据刚度参数和关节阻尼参数确定电驱动***关节需求力矩，以此基于力内环的阻抗控制方式对机器人驱动关节进行闭环自适应控制。Calculate the joint damping parameters of the electric drive system based on the rotation speed and torque of the drive joints, determine the joint demand torque of the electric drive system based on the stiffness parameters and joint damping parameters, and perform closed-loop adaptive control of the robot drive joints based on the impedance control method of the force inner loop.
  2. 根据权利要求1所述的机器人自适应变阻抗电驱动***的控制方法，其特征在于，自适应设置刚度参数包括：The control method of a robot adaptive variable impedance electric drive system according to claim 1, wherein the adaptive setting of stiffness parameters includes:
    刚度参数包括三个参数区间，公式如下：
    The stiffness parameter includes three parameter intervals, and the formula is as follows:
    式中，K为设定的刚度参数，Kc为刚度参数常量设定值，α为第一刚度参数调节系数，β为第二刚度参数调节系数，h1为第一刚度参数调节系数的下限值，h2为第二刚度参数调节系数的上限值。In the formula, K is the set stiffness parameter, K c is the stiffness parameter constant setting value, α is the first stiffness parameter adjustment coefficient, β is the second stiffness parameter adjustment coefficient, h 1 is the lower limit of the first stiffness parameter adjustment coefficient limit, h 2 is the upper limit of the second stiffness parameter adjustment coefficient.
  3. 根据权利要求1所述的机器人自适应变阻抗电驱动***的控制方法，其特征在于，根据驱动关节转速和力矩计算电驱动***关节阻尼参数包括：初始设定一阻尼常量，计算自适应阻尼增量，将初始设定的阻尼常量与自适应阻尼增量叠加得到实时计算的电驱动***关节阻尼参数。The control method of the robot's adaptive variable impedance electric drive system according to claim 1, characterized in that calculating the joint damping parameters of the electric drive system according to the drive joint speed and torque includes: initially setting a damping constant, calculating the adaptive damping increase The initial set damping constant and the adaptive damping increment are superimposed to obtain the real-time calculated joint damping parameters of the electric drive system.
  4. 根据权利要求3所述的机器人自适应变阻抗电驱动***的控制方法，其特征在于，自适应阻尼增量为驱动关节力矩的微分量与权重系数的乘积。The control method of a robot adaptive variable impedance electric drive system according to claim 3, wherein the adaptive damping increment is the product of the differential component of the drive joint torque and the weight coefficient.
  5. 根据权利要求1所述的机器人自适应变阻抗电驱动***的控制方法，其特征在于，根据计算的刚度参数和关节阻尼参数确定电驱动***关节需求力矩的公式如下：
    The control method of the robot adaptive variable impedance electric drive system according to claim 1, characterized in that the formula for determining the joint demand torque of the electric drive system according to the calculated stiffness parameters and joint damping parameters is as follows:
    其中，τ为驱动关节控制力矩，K为刚度参数，qd为驱动关节期望位置，q为驱动关节实际位置，D为关节阻尼参数，C为科氏力与离心力项，G为重力项。Among them, τ is the control moment of the driving joint, K is the stiffness parameter, q d is the desired position of the driving joint, q is the actual position of the driving joint, D is the joint damping parameter, C is the Coriolis force and centrifugal force terms, and G is the gravity term.
  6. 一种机器人自适应变阻抗电驱动***，用于实现权利要求1～5所述的机器人自适应 变阻抗电驱动***的控制方法，其特征在于，包括：A robot adaptive variable impedance electric drive system, used to realize the robot adaptation described in claims 1 to 5 The control method of the variable impedance electric drive system is characterized by including:
    永磁同步电机，经行星减速器减速、放大力矩后输出转速和力矩；The permanent magnet synchronous motor outputs speed and torque after being decelerated by a planetary reducer and amplifying the torque;
    编码器，安装在永磁同步电机侧，用于采集永磁同步电机的转速及位置信号；The encoder is installed on the side of the permanent magnet synchronous motor and is used to collect the speed and position signals of the permanent magnet synchronous motor;
    自适应变阻抗控制器，接收永磁同步电机对应的电流、力矩、转速及位置信号；根据机器人运动作业场景，自适应设置刚度参数；根据驱动关节转速和力矩计算电驱动***关节阻尼参数，根据刚度参数和关节阻尼参数确定电驱动***关节需求力矩，以此基于力内环的阻抗控制方式对机器人驱动关节进行闭环自适应控制。The adaptive variable impedance controller receives the current, torque, speed and position signals corresponding to the permanent magnet synchronous motor; adaptively sets the stiffness parameters according to the robot motion operation scenario; calculates the joint damping parameters of the electric drive system based on the drive joint speed and torque. The stiffness parameters and joint damping parameters determine the required torque of the joints of the electric drive system, thereby performing closed-loop adaptive control of the robot drive joints based on the impedance control method of the force inner loop.
  7. 根据权利要求6所述的机器人自适应变阻抗电驱动***，其特征在于，所述***还包括力矩传感器，设置于行星减速器的输出端，用于测量驱动***的输出力矩。The robot adaptive variable impedance electric drive system according to claim 6, characterized in that the system further includes a torque sensor, which is arranged at the output end of the planetary reducer and is used to measure the output torque of the drive system.
  8. 一种机器人自适应变阻抗电驱动***的控制装置，其特征在于，包括一个或多个处理器，用于实现权利要求1-5中任一项所述的机器人自适应变阻抗电驱动***的控制方法。A control device for a robot's adaptive variable impedance electric drive system, characterized in that it includes one or more processors for implementing the robot's adaptive variable impedance electric drive system according to any one of claims 1 to 5. Control Method.
  9. 一种计算机可读存储介质，其上存储有程序，其特征在于，该程序被处理器执行时，用于实现权利要求1-5中任一项所述的机器人自适应变阻抗电驱动***的控制方法。 A computer-readable storage medium with a program stored thereon, characterized in that when the program is executed by a processor, it is used to implement the robot adaptive variable impedance electric drive system according to any one of claims 1-5. Control Method.
PCT/CN2023/091649 2022-12-06 2023-04-28 Adaptive variable impedance electric driving system for robot, control method, and apparatus WO2023213243A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2023559989A JP2024522425A (en) 2022-12-06 2023-04-28 Self-adaptive variable impedance electric drive system for robots and control method and device

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202211559370.X 2022-12-06
CN202211559370.XA CN116175548B (en) 2022-12-06 2022-12-06 Self-adaptive variable-impedance electric driving system for robot and control method and device

Publications (1)

Publication Number Publication Date
WO2023213243A1 true WO2023213243A1 (en) 2023-11-09

Family

ID=86451335

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2023/091649 WO2023213243A1 (en) 2022-12-06 2023-04-28 Adaptive variable impedance electric driving system for robot, control method, and apparatus

Country Status (3)

Country Link
JP (1) JP2024522425A (en)
CN (1) CN116175548B (en)
WO (1) WO2023213243A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117811280A (en) * 2024-02-29 2024-04-02 清华大学 Reluctance motor and design method thereof

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140379131A1 (en) * 2013-06-19 2014-12-25 Gwangju Institute Of Science And Technology Control Method and Device for Position-Based Impedance Controlled Industrial Robot
CN106483964A (en) * 2015-08-31 2017-03-08 中南大学 A kind of robot Shared control method based on contact force observer
CN110027002A (en) * 2019-04-24 2019-07-19 深圳市智能机器人研究院 A kind of bionic joint control system and method based on multi-motor driving
CN111037573A (en) * 2020-01-08 2020-04-21 山东理工大学 Vibration suppression method for humanoid flexible joint arm
CN112847327A (en) * 2019-11-12 2021-05-28 中国科学院沈阳自动化研究所 Compliant control method for joint of cooperative robot
CN113858201A (en) * 2021-09-29 2021-12-31 清华大学 Intention-driven adaptive impedance control method, system, device, storage medium and robot

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101732901B1 (en) * 2010-10-05 2017-05-08 삼성전자주식회사 Walking robot and control method thereof
CN109702740B (en) * 2018-12-14 2020-12-04 中国科学院深圳先进技术研究院 Robot compliance control method, device, equipment and storage medium
CN110744540B (en) * 2019-09-26 2021-03-23 北京航天测控技术有限公司 Method for setting parameters of variable impedance controller of industrial robot
CN112372630B (en) * 2020-09-24 2022-02-22 哈尔滨工业大学（深圳） Multi-mechanical-arm cooperative polishing force compliance control method and system
CN114043480A (en) * 2021-11-25 2022-02-15 上海智能制造功能平台有限公司 Adaptive impedance control algorithm based on fuzzy control
CN115179286A (en) * 2022-07-11 2022-10-14 邱晨 Flexible driving method, flexible parallel robot control method and flexible driving device

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140379131A1 (en) * 2013-06-19 2014-12-25 Gwangju Institute Of Science And Technology Control Method and Device for Position-Based Impedance Controlled Industrial Robot
CN106483964A (en) * 2015-08-31 2017-03-08 中南大学 A kind of robot Shared control method based on contact force observer
CN110027002A (en) * 2019-04-24 2019-07-19 深圳市智能机器人研究院 A kind of bionic joint control system and method based on multi-motor driving
CN112847327A (en) * 2019-11-12 2021-05-28 中国科学院沈阳自动化研究所 Compliant control method for joint of cooperative robot
CN111037573A (en) * 2020-01-08 2020-04-21 山东理工大学 Vibration suppression method for humanoid flexible joint arm
CN113858201A (en) * 2021-09-29 2021-12-31 清华大学 Intention-driven adaptive impedance control method, system, device, storage medium and robot

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117811280A (en) * 2024-02-29 2024-04-02 清华大学 Reluctance motor and design method thereof

Also Published As

Publication number Publication date
CN116175548B (en) 2023-10-20
CN116175548A (en) 2023-05-30
JP2024522425A (en) 2024-06-21

Similar Documents

Publication Publication Date Title
CN106994686B (en) The computational methods and device, robot of joint external force torque
WO2023213243A1 (en) Adaptive variable impedance electric driving system for robot, control method, and apparatus
CN103984193B (en) Photographing apparatus stabilizer and control method thereof
CN102707734A (en) Self-stabilizing cloud deck based on inertia attitude sensor
CN109029448B (en) Monocular vision inertial positioning's IMU aided tracking model
CN110071676B (en) Vibration suppression method and device for flexible robot joint servo system
CN105928514A (en) AGV composite guiding system based on image and inertia technology
CN203950109U (en) Capture apparatus stabilizator
CN102279701B (en) Image stabilizing apparatus and image stabilizing method
CN104167973B (en) Inertia evaluation method and inertia the estimation device of position control
CN108488572A (en) A kind of active stabilization holder and its control method
CN202548681U (en) Intelligent self-stabilization image pickup system control unit
CN1974325A (en) Servo control system of magnetically suspended control moment gyroscope frame with precise friction compensation
WO2022179131A1 (en) Torque control method and apparatus, terminal device, and storage medium
CN112643670A (en) Flexible joint control method based on sliding-mode observer
CN112720455A (en) Optimal joint acceleration and deceleration calculation method and device and application thereof
CN107423515A (en) Mechanical arm Friction identification method, apparatus, equipment and storage medium
WO2022179213A1 (en) Decoupling control method and apparatus for humanoid robot, and humanoid robot
CN106655882B (en) A kind of supersonic motor servo-control system hysteresis control method
CN106019942B (en) A kind of robot maximum speed acquisition methods and system based on kinetic model
CN110625616B (en) Fixed time control method considering uncertainty and interference of mechanical arm parameters
CN112129272B (en) Method and device for realizing visual odometer
CN113059566A (en) Direct force feedback teleoperation method and device based on flexible robot
US20240147180A1 (en) Sensor data prediction
CN116197917B (en) Self-adaptive maximum acceleration calculation method and device, storage medium and electronic equipment

Legal Events

Date Code Title Description
WWE Wipo information: entry into national phase

Ref document number: 2023559989

Country of ref document: JP

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 23799229

Country of ref document: EP

Kind code of ref document: A1