CN103640022A - Flexible follow-up control method for spacecraft mechanical arm - Google Patents
Flexible follow-up control method for spacecraft mechanical arm Download PDFInfo
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- CN103640022A CN103640022A CN201310572178.9A CN201310572178A CN103640022A CN 103640022 A CN103640022 A CN 103640022A CN 201310572178 A CN201310572178 A CN 201310572178A CN 103640022 A CN103640022 A CN 103640022A
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Abstract
The invention discloses a flexible follow-up control method for a spacecraft mechanical arm. A load at the tail end of the mechanical arm is directly acted by human hands, and a control system control the mechanical arm to produce actions through certain control algorithm according to the force application condition of the human hands to enable the tail end to move along with the hands. The method has the advantages that the load at the tail end of the mechanical arm moves along with the human hands according to intentions of an operator, which is similar to operating of an object hung in the air by workers, and accordingly, workers can perform position adjustment visually on the load at the tail end of the mechanical arm according to daily formed object operating habits of the workers; the stable and reliable and high-accuracy characteristics of the mechanical arm are combined with the flexibility of worker observation and operation, and the method is applicable to complex and changeable assembly conditions of spacecrafts.
Description
Technical field
The invention belongs to the control technology field of mechanical arm, specifically, the present invention relates to a kind ofly utilize the external force power that for example staff is applied to mechanical arm tail end to control mechanical arm tail end with staff, to carry out the method for pose adjustment.
Background technology
Spacecraft develops has the feature of single and mini-batch production, and current assembling work relies on manual operation in a large number, and is aided with the light instruments such as suspender, lift truck, ladder and carries out the assembly work of different spacecrafts.This assembling mode has some limitations: for the installation of great depth parts, the restriction due to the exhibition of operating personnel's arm, has been difficult to installment work; For the parts of large quality, manually lift for a long time, easily cause fatigue, the security of impact operation; For the narrow and small situation in operating space, manually lift and be difficult to, at narrow space, mounted piece is carried out to pose adjustment, and easily and around object collides with; The parts of having relatively high expectations for installation accuracy, artificial installation is difficult to control installation accuracy, and the adjustment time is long.
Mechanical arm has the features such as loading capacity is large, positioning precision is high, fast response time, is applied to station keeping and adjustment that spacecraft assembling can realize large scale, large weight parts, without manpower, lifts; Compare with artificial adjustment, mechanical arm has higher motion positions precision, can carry out high-precision pose adjustment to mounted piece, and mounted piece rapid adjustment is put in place, shortens the set-up time; For the assembly manipulation of small space, can avoid mounted piece and object around to collide with by the motion control of mechanical arm, guarantee the safety of operation.Therefore, adopt mechanical arm to assemble spacecraft, can improve assembly quality, efficiency of assembling and the security of spacecraft.
The control mode that mechanical arm adopts in commercial Application at present mainly contains following several:
1) by programming or teaching, determine in advance the motion path of mechanical arm, mechanical arm has constantly repeated identical action in production operation, as the mechanical arm in auto production line.This control mode is applicable to production or the carrying of larger product in batches, is not suitable for the production of the such single and mini-batch production product of spacecraft;
2) by the motion of vision guide mechanical arm, adopt the image of imageing sensor collection machinery arm surrounding environment, system is identified location to the target in image automatically, controls accordingly the motion of mechanical arm, and this control mode is used in automatic welding system conventionally;
3) by the motion of the control terminal manual control machine tool arms such as teaching machine, control stick, this mode is normally used for the debugging of mechanical arm self, or Long-distance Control mechanical arm completes associative operation.
But these existing control modes all cannot be accomplished servo-actuated control, reflect truly assembling demand and carry out real-time control not.
Summary of the invention
The present invention is from the demand of spacecraft assembling, the flexible follow-up control method of a kind of spacecraft mechanical arm is proposed, adopt in this way, can directly with staff, act on the load that is arranged on mechanical arm tail end, system is according to the application of force situation of staff, adopt certain control algolithm to control mechanical arm and produce action, make its end with human hand movement, adopting the ideal effect producing is in this way that mechanical arm tail end load is followed human hand movement according to operator's intention, approximate be equivalent to people the skyborne object that suspends is operated, people can be according to the custom of the operation object of daily formation like this, mechanical arm tail end load is carried out to pose adjustment intuitively.The feature that this method is reliable and stable by mechanical arm, precision is high, the flexibility of observing, operating with people combines, and is applicable to the assembling operating mode that spacecraft is complicated and changeable.
To achieve these goals, the present invention has adopted following technical scheme:
The flexible follow-up control method of spacecraft mechanical arm, comprises the steps:
1) between mechanical arm tail end flange and load or near load, the position of convenient operation arranges six-dimension force sensor, and six-dimension force sensor is electrically connected to the control system of mechanical arm;
2) wind tunnel information thereon of six-dimension force sensor sensing effect send control system to, in the situation that six-dimension force sensor being set between mechanical arm tail end flange and fixture, control system is utilized the flexible servo-actuated control gravitational compensation method of spacecraft mechanical arm, obtains wind tunnel that External Force Acting the produces component under six-dimension force sensor local Coordinate System; Near load, position arranges six-dimension force sensor, and six-dimension force sensor does not bear in the situation of load gravity, and control system does not need gravity compensation can obtain wind tunnel that External Force Acting the produces component under six-dimension force sensor local Coordinate System;
3) control system is calculated by Coordinate Conversion, by step 2) the wind tunnel information conversion under six-dimension force sensor local Coordinate System of the external force that obtains, obtain wind tunnel that External Force Acting the produces effect component under mechanical arm basis coordinates system;
4) according to step 3) the wind tunnel information that produces of the lower External Force Acting of the mechanical arm basis coordinates that obtains system, control manipulator motion, make load produce mobile or rotate, wherein mobile direction is identical with the direction of the power of External Force Acting, mobile acceleration, speed, distance etc. are carried out Comprehensive Control according to the size of the power of External Force Acting, rotation direction is identical with the direction of the moment of External Force Acting, angular acceleration, angular speed, the angle of rotating are carried out Comprehensive Control according to the size of the moment of External Force Acting, finally reach flexible servo-actuated effect.
In technique scheme, described mechanical arm is in-line robot, conventionally has 6 frees degree, can directly adopt ripe industrial robot.
In technique scheme, the data that described six-dimension force sensor measures at every turn have six components, are included in the force component of three change in coordinate axis direction in six-dimension force sensor local Coordinate System, and the moment components of three change in coordinate axis direction.
In technique scheme, described load refers to the Main Load that is arranged on mechanical arm tail end, comprises by operation workpiece, for clamping by the fixture etc. of operation workpiece.
In technique scheme, described external force is for the applied external force to the measurement numerical value generation effect of six-dimension force sensor except load gravity, as the operating physical force of staff, with the impact force of other objects etc.
In technique scheme, six-dimension force sensor is arranged between mechanical arm tail end flange and load, in operation, the wind tunnel information that six-dimension force sensor is experienced is the comprehensive function result of load gravity and external force, obtain the wind tunnel information of External Force Acting, utilize the flexible servo-actuated control gravitational compensation method of spacecraft mechanical arm to eliminate the impact of load gravity, obtain the wind tunnel information that External Force Acting produces.
In technique scheme, six-dimension force sensor is arranged near the position of load, and does not directly carry basic load, and sensor is not subject to load gravity effect to the perception of External Force Acting.
In technique scheme, described six-dimension force sensor local Coordinate System is the rectangular coordinate system in space being connected with six-dimension force sensor self, with six-dimension force sensor motion, produce corresponding change, the wind tunnel information that six-dimension force sensor directly records is three force components of three change in coordinate axis direction of himself coordinate system, and three moment components.
In technique scheme, flexible follow-up control method step 3) in, described mechanical arm basis coordinates is the rectangular coordinate system in space being connected with mechanical arm pedestal, the motion of mechanical arm tail end defines conventionally in mechanical arm basis coordinates system.The transformational relation of mechanical arm basis coordinates system and six-dimension force sensor local Coordinate System is determined by geometrical connection relation and the current spatial attitude of mechanical arm, and then the wind tunnel information of External Force Acting is scaled under mechanical arm basis coordinates system by six-dimension force sensor local Coordinate System.
In technique scheme, flexible follow-up control method step 4) in, the wind tunnel information of External Force Acting under mechanical arm basis coordinates system is force component and the moment components of three change in coordinate axis direction, by three force components, can be determined the size and Orientation of the power of External Force Acting, by three moment components, can be determined the size and Orientation of the moment of External Force Acting, mobile acceleration, speed, distance etc. are carried out Comprehensive Control according to the size of the power of External Force Acting, and the angular acceleration of rotation, angular speed, angle are carried out Comprehensive Control according to the size of the moment of External Force Acting.
In technique scheme, flexible follow-up control method step 4) in, in control, the freedom of motion to mechanical arm retrains as required, controls manipulator motion on this basis according to the wind tunnel information of External Force Acting.
Compare with existing method, the mechanical arm control method that the present invention proposes has following advantages:
1) operation meets the custom of normal operation of day for human beings object, to operating personnel without too much training;
2) take full advantage of the manual flexibility of people, operating mode complicated and changeable is had to better adaptability, be applicable to the R&D and production of the single and mini-batch production products such as spacecraft;
3) compare with existing hand operated control method, because operation meets the custom that normal operating article body of the day for human beings forms, operation is directly perceived, is difficult for makeing mistakes, and security is higher.
The feature that method is reliable and stable by mechanical arm, precision is high that the present invention proposes, the flexibility of observing, operating with people combines, and is expected to solve an assembling difficult problem for spacecraft complex working condition.。
Accompanying drawing explanation
Fig. 1 is that the six-dimension force sensor of an embodiment of the present invention is arranged on the flexible follow-up control method schematic diagram between mechanical arm tail end flange and load.
Fig. 2 is the flexible follow-up control method schematic diagram that the six-dimension force sensor of another embodiment of the present invention is arranged near the position of load.
Wherein, 1-mechanical arm, 2-six-dimension force sensor, 3-are by operating parts, 4-operator, 5-hand, 6-fixture, 7-mechanical arm tail end flange, 8-operating grip.
The specific embodiment
What below introduce is the specific embodiment as content of the present invention, below by the specific embodiment, described content of the present invention is further illustrated.Certainly, describing the following specific embodiment is only the content of example different aspect of the present invention, and should not be construed as the restriction scope of the invention.
Embodiment 1:
As shown in Figure 1, six-dimension force sensor 2 is arranged between the end flange 7 and fixture 6 of mechanical arm 1, by operating parts 3, by fixture 6, is clamped, operator's 4 use hands 5 promote by operating parts 3.By operating parts 3, are loads of six-dimension force sensor 2 with the assembly of fixture 6, according to " the flexible servo-actuated control gravitational compensation method of spacecraft mechanical arm ", in advance to being measured by gravity information such as the gravity of operating parts 3 and fixture 6 assemblys, position of centre of gravitys, for the gravity compensation of flexible servo-actuated control, the flexible servo-actuated control gravitational compensation method of concrete spacecraft mechanical arm is referring to Chinese patent 201310552492.0.
The wind tunnel information that control system (not shown in FIG.) Real-time Obtaining six-dimension force sensor 2 perceives, the wind tunnel information obtaining from six-dimension force sensor 2 is operator 4 the active force of hand 5 and fixture 6, by the comprehensive function result of operating parts 3 gravity.By " the flexible servo-actuated control gravitational compensation method of spacecraft mechanical arm ", according to measuring in advance the gravity information with fixture 6 assemblys by operating parts 3 obtaining, the wind tunnel information obtaining from six-dimension force sensor 2 is deducted to the effect component with fixture 6 assembly gravity by operating parts 3, obtain wind tunnel that operator 4 hand 5 effects the produce component under six-dimension force sensor 2 local Coordinate Systems.
Control system is calculated by Coordinate Conversion, by the wind tunnel information conversion producing in 5 effects of setting about of six-dimension force sensor 2 local Coordinate Systems obtaining, obtains wind tunnel that 5 effects in one's hands the produce effect component under mechanical arm 1 basis coordinates system.
The wind tunnel information that control system produces according to mechanical arm 1 basis coordinates system 5 effects of setting about that obtain, controls mechanical arm 1 motion, makes load produce mobile or rotate.
Wherein mobile direction is identical with the direction of the power of hand 5 effects, and mobile distance has two kinds of patterns can supply to switch according to practical application request:
1) in the time need to being moved on a large scale by operating parts 3, the big or small F of the power that displacement is produced by hand 5 effects is multiplied by a coefficient k and determines, the size of coefficient k can be looked the adjustment of practical operation situation and be determined.When the used time is done in 5 pairs of loads of hand, the size of the power that hand 5 effects that control system obtains produce is F, displacement is Fk, mechanical arm 1 is in carrying out the process of this displacement, opponent 5 effect does not respond, until this displacement complete after, then obtain the effect information when remote holder 5, control mechanical arm and carry out next step and move.
2) in the time need to being carried out accurate adjustment among a small circle by operating parts 3, displacement can be set as with fixed value L, the size of L can require to set according to control accuracy, as made L=0.1mm, the big or small F that acts on the power producing for hand 5 sets a threshold value Fd, as made Fd=30N, when F>Fd, controlling mechanical arm 1 makes its end move the distance of L, if F≤Fd mechanical arm 1 does not produce action, if mechanical arm 1 F after mobile L is still greater than Fd, the design by control strategy makes mechanical arm 1 not produce at this moment action, until F is decreased to below Fd, become again and be greater than Fd, mechanical arm 1 just moves a L again, at hand 5, act on all the time in load like this, F is greater than in the situation of Fd all the time, can avoid mechanical arm 1 continuous action to make precision be difficult to control.
The control mode of rotating is with mobile similar, and the direction of rotation is identical with the direction of hand 5 opplied moments, and the angular dimension of rotation, is repeated no more according to definite with the similar mode of above-mentioned definite displacement by the size of moment.
In practical operation, the freedom of motion of mechanical arm 1 can be retrained as required in control, for example, when hope is moved by operating parts 3, can make the end of mechanical arm 1 only have the mobile free degree by controlling restraint of liberty degree, only allow position adjustment, not allow attitude adjustment; When hope is rotated by operating parts 3, can make the end of mechanical arm 1 only have the free degree of rotation by controlling restraint of liberty degree, only allow attitude adjustment, do not allow position adjustment, by operating parts 3, can only be rotated around reference point.And for example, when only wishing that the X-axis that along mechanical arm 1 basis coordinates is by operating parts 3 moves, only to external force, the component in X-direction responds system.
Embodiment 2:
As shown in Figure 2, fixture 6 is directly installed on the end flange 7 of mechanical arm 1, by operating parts 3, by fixture 6, is clamped, and six-dimension force sensor 2 is arranged on fixture 6, and operating grip 8 is connected with six-dimension force sensor 2, and operator's 4 use hands 5 act on operating grip 8.
The present embodiment is from the different of embodiment 1, six-dimension force sensor 2 is not born the gravity with fixture 6 by operating parts 3, the gravity of operating grip 8 is less, the interference that 2 perception hand 5 effects cause to six-dimension force sensor can be ignored, in the servo-actuated control of flexibility, do not carry out gravity compensation, six-dimension force sensor 2 can the outer force information of direct sensing.All the other are with embodiment 1.
Wherein, six-dimension force sensor is the ripe product sensor that a kind of industry personnel knows, easily buy and obtain (six-dimension force sensor of RuATI company), the data that six-dimension force sensor measures at every turn have six components, be included in the force component of three change in coordinate axis direction in six-dimension force sensor local Coordinate System, and the moment components of three change in coordinate axis direction.
Wherein, the advantage of the mounting means of embodiment 2 is not need to carry out gravity compensation, and six-dimension force sensor is arranged on near position load, for the ease of closely operating intuitively, make operator when operation six-dimension force sensor, obtain as far as possible impression load being operated as directly, still can operate according to the custom of the operation object of the daily formation of people.And the six-dimension force sensor of embodiment 1 is arranged in the situation between mechanical arm tail end flange and load, operator can directly operate load, and the operation under this mounting means is more directly perceived, but need to compensate load gravity.
Wherein, the wind tunnel information of External Force Acting under mechanical arm basis coordinates system is force component and the moment components of three change in coordinate axis direction, by three force components, can be determined the size and Orientation of the power of External Force Acting, by three moment components, can be determined the size and Orientation of the moment of External Force Acting, mobile acceleration, speed, distance etc. are carried out Comprehensive Control according to the size of the power of External Force Acting, and the angular acceleration of rotation, angular speed, angle are carried out Comprehensive Control according to the size of the moment of External Force Acting.The movement of take is example, can be according to mobile speed and precision needs, the big or small corresponding relation of design acceleration, speed, distance etc. and power, in above-mentioned embodiment, simply the size of power is multiplied by a coefficient as mobile distance, an or fixing distance length (as 0.1mm) of setting, and be a threshold value of size setting of power, when the size of power surpasses this threshold value, move fixing distance.Acceleration, speed, distance etc. can be designed multiple different form according to the actual requirements from the big or small corresponding relation of power, cannot list one by one.
Although above the specific embodiment of the present invention is described in detail and is illustrated, but what should indicate is, we can make various changes and modifications above-mentioned embodiment, but these do not depart from the scope that spirit of the present invention and appended claim are recorded.
Claims (10)
1. the flexible follow-up control method of spacecraft mechanical arm, comprises the steps:
1) between mechanical arm tail end flange and load or near load, the position of convenient operation arranges six-dimension force sensor, and six-dimension force sensor is electrically connected to the control system of mechanical arm;
2) wind tunnel information thereon of six-dimension force sensor sensing effect send control system to, in the situation that six-dimension force sensor being set between mechanical arm tail end flange and fixture, control system is utilized the flexible servo-actuated control gravitational compensation method of spacecraft mechanical arm, obtains wind tunnel that External Force Acting the produces component under six-dimension force sensor local Coordinate System; Near load, position arranges six-dimension force sensor, and six-dimension force sensor does not bear in the situation of load gravity, and control system does not need gravity compensation can obtain wind tunnel that External Force Acting the produces component under six-dimension force sensor local Coordinate System;
3) control system is calculated by Coordinate Conversion, by step 2) the wind tunnel information conversion under six-dimension force sensor local Coordinate System of the external force that obtains, obtain wind tunnel that External Force Acting the produces effect component under mechanical arm basis coordinates system;
4) according to step 3) the wind tunnel information that produces of the lower External Force Acting of the mechanical arm basis coordinates that obtains system, control manipulator motion, make load produce mobile or rotate, wherein mobile direction is identical with the direction of the power of External Force Acting, mobile acceleration, speed, distance etc. are carried out Comprehensive Control according to the size of the power of External Force Acting, rotation direction is identical with the direction of the moment of External Force Acting, angular acceleration, angular speed, the angle of rotating are carried out Comprehensive Control according to the size of the moment of External Force Acting, finally reach flexible servo-actuated effect.
2. flexible follow-up control method as claimed in claim 1, wherein, described mechanical arm is in-line robot, conventionally has 6 frees degree.
3. flexible follow-up control method as claimed in claim 1, wherein, the data that described six-dimension force sensor measures at every turn have six components, are included in the force component of three change in coordinate axis direction in six-dimension force sensor local Coordinate System, and the moment components of three change in coordinate axis direction.
4. flexible follow-up control method as claimed in claim 1, wherein, described load refers to the Main Load that is arranged on mechanical arm tail end, comprises by operation workpiece, for clamping by the fixture of operation workpiece.
5. flexible follow-up control method as claimed in claim 1, wherein, described external force is the applied external force to the measurement numerical value generation effect of six-dimension force sensor except load gravity.
6. flexible follow-up control method as claimed in claim 1, wherein, six-dimension force sensor is arranged between mechanical arm tail end flange and load, in operation, the wind tunnel information that six-dimension force sensor is experienced is the comprehensive function result of load gravity and external force, obtain the wind tunnel information of External Force Acting, utilize the flexible servo-actuated control gravitational compensation method of spacecraft mechanical arm to eliminate the impact of load gravity, obtain the wind tunnel information that External Force Acting produces.
7. flexible follow-up control method as claimed in claim 1, wherein, six-dimension force sensor is arranged near position load, and does not directly carry basic load, and sensor is not subject to load gravity effect to the perception of External Force Acting.
8. flexible follow-up control method as claimed in claim 1, wherein, in flexible servo-actuated control, can by control system, to the freedom of motion of mechanical arm, retrain as required, in the free degree allowing, according to the wind tunnel information of External Force Acting, control the motion of mechanical arm.
9. the flexible follow-up control method as described in claim 1-8 any one, wherein, described six-dimension force sensor local Coordinate System is the rectangular coordinate system in space being connected with six-dimension force sensor self, with six-dimension force sensor motion, produce corresponding change, the wind tunnel information that six-dimension force sensor directly records is three force components of three change in coordinate axis direction of himself coordinate system, and three moment components.
10. the flexible follow-up control method as described in claim 1-8 any one, wherein, flexible follow-up control method step 3) in, described mechanical arm basis coordinates is the rectangular coordinate system in space being connected with mechanical arm pedestal, and the motion of mechanical arm tail end defines conventionally in mechanical arm basis coordinates system; The transformational relation of mechanical arm basis coordinates system and six-dimension force sensor local Coordinate System is determined by geometrical connection relation and the current spatial attitude of mechanical arm, and then the wind tunnel information of External Force Acting is scaled under mechanical arm basis coordinates system by six-dimension force sensor local Coordinate System.
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