CN114700952A - Joint limiting control method and device, terminal equipment and storage medium - Google Patents
Joint limiting control method and device, terminal equipment and storage medium Download PDFInfo
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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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
- B25J9/1628—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
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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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1651—Programme controls characterised by the control loop acceleration, rate control
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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
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Abstract
The invention discloses a method and a device for controlling joint limit, terminal equipment and a computer readable storage medium, which are used for controlling the joint limit by acquiring the position information of the joint moving to a preset joint limit position; determining a corresponding joint limiting strategy according to the position information, wherein the joint limiting strategy comprises the following steps: a speed reduction strategy and a counter force application strategy; controlling an actuator of the joint to reduce the movement speed of the joint according to the speed reduction strategy; or the actuator for controlling the joint to apply the acting force for moving the joint away from the preset joint limit position according to the strategy for applying the counter acting force. The invention can realize the flexible soft limit of the joint of the robot, and effectively avoid the condition that the joint is easily damaged to cause safety accidents in a hardware limit mode.
Description
Technical Field
The invention relates to the technical field of robot joints, in particular to a joint limit control method and device, terminal equipment and a computer readable storage medium.
Background
In some actuator-driven joint applications, such as industrial robot arm joints, legged robot leg joints and fuselage robot arm joints, the joints moving at high speed generate very large forces when moving to the joint movement limit positions, so that the whole joint mechanical hardware is easily damaged by motion impact. For example, a rotating industrial robot arm may continue to rotate at a high speed due to runaway and thus engage hardware stops, which may cause mechanical damage to the hardware stops or actuators of the industrial robot arm.
In summary, most joint applications today adopt a limiting device mainly based on hardware limiting, and when a joint control is lost, the limiting mode can easily cause the control protection failure of the whole joint limiting, and even cause serious safety accidents.
Disclosure of Invention
The invention mainly aims to provide a joint limit control method, a joint limit control device, terminal equipment and a computer readable storage medium, and aims to realize flexible soft limit of a joint of a robot and avoid the situation that the joint is easily damaged to cause safety accidents in the existing hardware limit mode.
In order to achieve the purpose, the invention provides a joint limit control method, which comprises the following steps:
acquiring position information of a joint moving to a distance from a preset joint limit position;
determining a corresponding joint limiting strategy according to the position information, wherein the joint limiting strategy comprises the following steps: a speed reduction strategy and a reverse force application strategy;
controlling an actuator of the joint to reduce the movement speed of the joint according to the speed reduction strategy; or,
and controlling an actuator of the joint to apply acting force for enabling the joint to be far away from the preset joint limit position according to the acting counter acting force strategy.
Optionally, the location information at least includes: damping control of the starting point position and the bounce-off position;
the step of determining a corresponding joint limiting strategy according to the position information comprises:
determining a joint limiting strategy executed at the current moment to limit and control the joint as the speed reduction strategy according to the damping control starting point position;
or,
and determining a joint limiting strategy executed at the current moment to limit and control the joint as the strategy for applying the reverse acting force according to the bouncing-off position.
Optionally, the control method for joint limitation further includes:
determining the movement range of the joint, and determining the maximum limit position of the movement range as the preset joint limit position;
and setting position information comprising a damping control starting point position and a bounce-off position in the motion range, wherein the distance between the damping control starting point position and the preset joint limit position is greater than the distance between the bounce-off position and the preset joint limit position.
Optionally, the step of controlling the actuator of the joint according to the reduction speed strategy to reduce the movement speed of the joint comprises:
calculating damping control weight according to the real-time motion position of the joint according to the speed reduction strategy;
and superposing the damping control weight to the drive control of the actuator on the joint so as to reduce the velocity feedback to control the actuator to reduce the motion velocity of the joint.
Optionally, the step of controlling the actuator of the joint to apply a force that moves the joint away from the preset joint limit position according to the apply counter-force strategy comprises:
calculating the bounce-off control weight according to the real-time movement position of the joint according to the strategy of applying the reverse acting force;
and superposing the bouncing control weight to the driving control of the actuator for the joint so as to control the actuator of the joint to apply an acting force for enabling the joint to be far away from the preset joint limit position.
Optionally, the step of calculating a bounce control weight according to the real-time motion position of the joint according to the applied counterforce strategy comprises:
and calling a preset bounce-off force ratio controller according to the applied reverse acting force strategy to calculate and obtain the bounce-off control weight according to the real-time movement position of the joint, wherein the acting force of the actuator for enabling the joint to be far away from the preset joint limit position by superposing the bounce-off control weight is in inverse proportion to the distance between the real-time movement position and the preset joint limit position.
Optionally, after the step of determining a corresponding joint limiting strategy according to the position information, the method further comprises:
and controlling an actuator of the joint to reduce the movement speed of the joint according to the speed reduction strategy, and simultaneously controlling the actuator of the joint to apply acting force for enabling the joint to be far away from the preset joint limit position according to the opposite acting force applying strategy.
In addition, in order to achieve the above object, the present invention also provides a control device for joint position limitation, including:
the position acquisition module is used for acquiring position information of the joint moving to a position away from a preset joint limit position;
a position limiting strategy determining module, configured to determine a corresponding joint position limiting strategy according to the position information, where the joint position limiting strategy includes: a speed reduction strategy and a counter force application strategy;
the limiting control module is used for controlling the actuator of the joint to reduce the movement speed of the joint according to the speed reduction strategy; or the actuator for controlling the joint to apply the acting force for moving the joint away from the preset joint limit position according to the strategy for applying the counter acting force.
Each functional module of the control device for controlling joint limit according to the present invention realizes the steps of the control method for joint limit as described above when executed.
In addition, to achieve the above object, the present invention also provides a terminal device, including: the control method comprises a memory, a processor and a joint limiting control program stored on the memory and capable of running on the processor, wherein the steps of the control method for limiting the joint are realized when the control program for limiting the joint is executed by the processor.
In addition, to achieve the above object, the present invention further provides a computer-readable storage medium having a joint position limiting control program stored thereon, wherein the joint position limiting control program, when executed by a processor, implements the steps of the joint position limiting control method as described above.
According to the joint limit control method, the joint limit control device, the terminal equipment and the computer readable storage medium, position information from the movement of the joint to the preset joint limit position is obtained; determining a corresponding joint limiting strategy according to the position information, wherein the joint limiting strategy comprises the following steps: a speed reduction strategy and a counter force application strategy; controlling an actuator of the joint to reduce the movement speed of the joint according to the speed reduction strategy; or the actuator for controlling the joint to apply the acting force for moving the joint away from the preset joint limit position according to the strategy for applying the counter acting force.
Compared with the existing mode of limiting the joint movement by adopting a limiting device mainly based on hardware limiting, the invention determines the corresponding joint limiting strategy according to the position information of the joint movement to the position far away from the joint limit position and responds, thereby controlling the actuator of the joint to reduce the movement speed of the joint or controlling the actuator to apply acting force for enabling the joint to be far away from the preset joint limit position, and finally reducing the movement speed to zero before the joint movement reaches the joint limit position to eliminate the impact force on the boundary position. Therefore, the invention realizes the flexible soft limit of the joint of the robot, and effectively avoids the condition that the joint is easily damaged to cause safety accidents in the existing limit mode by hardware.
Drawings
Fig. 1 is a schematic structural diagram of the hardware operation of a terminal device according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a method for controlling joint position limitation according to an embodiment of the present invention;
FIG. 3 is a schematic view of an application scenario involved in an embodiment of a method for controlling joint position limitation according to the present invention;
FIG. 4 is a schematic view of a specific application process involved in an embodiment of a control method for joint position limitation according to the present invention;
fig. 5 is a schematic structural diagram of an embodiment of a control device for joint positioning according to the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, fig. 1 is a schematic structural diagram of a hardware operating environment related to a terminal device according to an embodiment of the present invention.
The terminal device according to the embodiment of the present invention may be a terminal device integrated with joint modules such as an industrial robot joint, a leg joint of a legged robot, and a robot arm joint of a body.
As shown in fig. 1, the terminal device may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the terminal device configuration shown in fig. 1 is not intended to be limiting of the terminal device and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a distributed task processing program. Among them, the operating system is a program that manages and controls the hardware and software resources of the sample terminal device, a processing program that supports distributed tasks, and the execution of other software or programs.
In the terminal apparatus shown in fig. 1, the user interface 1003 is mainly used for data communication with each terminal; the network interface 1004 is mainly used for connecting a background server and performing data communication with the background server; and the processor 1001 may be configured to call the control program for joint limitation stored in the memory 1005, and perform the following operations:
acquiring position information of a joint moving to a distance from a preset joint limit position;
determining a corresponding joint limiting strategy according to the position information, wherein the joint limiting strategy comprises the following steps: a speed reduction strategy and a counter force application strategy;
controlling an actuator of the joint to reduce the movement speed of the joint according to the speed reduction strategy; or,
and controlling an actuator of the joint to apply acting force for enabling the joint to be far away from the preset joint limit position according to the acting counter acting force strategy.
Further, the location information includes at least: damping control of the starting point position and the bounce-off position;
the processor 1001 may call a control program for joint limiting stored in the memory 1005, and also perform the following operations:
determining a joint limiting strategy executed at the current moment to limit and control the joint as the speed reduction strategy according to the damping control starting point position;
or,
and determining a joint limiting strategy executed at the current moment to limit and control the joint as the strategy for applying the reverse acting force according to the bouncing-off position.
Further, the processor 1001 may call a control program for joint limitation stored in the memory 1005, and also perform the following operations:
determining the movement range of the joint, and determining the maximum limit position of the movement range as the preset joint limit position;
and setting position information comprising a damping control starting point position and a bounce-off position in the motion range, wherein the distance between the damping control starting point position and the preset joint limit position is greater than the distance between the bounce-off position and the preset joint limit position.
Further, the processor 1001 may call a control program for joint limitation stored in the memory 1005, and also perform the following operations:
calculating damping control weight according to the real-time motion position of the joint according to the speed reduction strategy;
and superposing the damping control weight to the drive control of the actuator on the joint so as to reduce the velocity feedback to control the actuator to reduce the motion velocity of the joint.
Further, the processor 1001 may call a control program for joint limitation stored in the memory 1005, and also perform the following operations:
calculating the bounce-off control weight according to the real-time movement position of the joint according to the strategy of applying the reverse acting force;
and superposing the bouncing control weight to the driving control of the actuator for the joint so as to control the actuator of the joint to apply an acting force for enabling the joint to be far away from the preset joint limit position.
Further, the processor 1001 may call a control program for joint limitation stored in the memory 1005, and also perform the following operations:
and calling a preset bounce-off force ratio controller according to the applied reverse acting force strategy to calculate and obtain the bounce-off control weight according to the real-time movement position of the joint, wherein the acting force of the actuator for enabling the joint to be far away from the preset joint limit position by superposing the bounce-off control weight is in inverse proportion to the distance between the real-time movement position and the preset joint limit position.
Further, the processor 1001 may call a control program for joint limiting stored in the memory 1005, and after performing the step of determining a corresponding joint limiting strategy according to the position information, further perform the following operations:
and controlling an actuator of the joint to reduce the movement speed of the joint according to the speed reduction strategy, and simultaneously controlling the actuator of the joint to apply acting force for enabling the joint to be far away from the preset joint limit position according to the opposite acting force applying strategy.
Based on the above structure, various embodiments of the joint limit control method of the present invention are provided.
Referring to fig. 2, fig. 2 is a schematic diagram of a hardware architecture of a robot joint module according to an embodiment of the present invention. It should be noted that, although a logical order is shown in the flow chart, in some cases, the steps shown or described may be performed in an order different than that shown or described herein.
The control method for limiting the joint of the embodiment of the invention is applied to the terminal equipment, and specifically can be as follows: the terminal device executes the joint limit control method of the embodiment of the invention to perform soft limit control on the self-integrated industrial mechanical arm joint, the leg joint and/or the body mechanical arm joint of the foot type robot. It should be understood that, based on different design requirements of practical applications, the terminal device may also incorporate the above-mentioned joint applications listed in the embodiments of the present invention, and the embodiments of the present invention are not limited to the specific type of joint application for performing soft limit control by applying the joint limit control method of the present invention.
In this embodiment, the method for controlling joint limit of the present invention includes:
step S100, acquiring position information of a joint moving to a position away from a preset joint limit position;
in this embodiment, the terminal device receives and acquires the position information of the joint moving to the limit position away from the preset joint through the joint controller in the process of being driven by the actuator to operate.
In this embodiment, the actuator of the joint may specifically include a driving device such as a motor, a hydraulic cylinder, or a pneumatic cylinder.
In addition, in the present embodiment, the preset joint limit position is a boundary control position point of the joint motion that is set in advance according to the actual application requirement of the joint motion. It will be appreciated that in order to further ensure that the movement of the joint does not impact the mechanical boundary, in some possible embodiments it is of course possible to set a distance point still from the mechanical edge boundary point of the joint as the boundary control point mentioned above, and thus a safe zone can be formed within a range of movement from the mechanical edge boundary point of the joint.
Step S200, determining a corresponding joint limiting strategy according to the position information, wherein the joint limiting strategy comprises the following steps: a speed reduction strategy and a counter force application strategy;
in this embodiment, after receiving the position information of the joint moving to the preset joint limit position through the joint controller, the terminal device further detects the specific type of the position information to determine whether the joint limit strategy corresponding to the position information is the speed reduction strategy or the counter-force application strategy.
In this embodiment, the joint limiting strategy is a limiting strategy executed by the terminal device at the current moment after the determination, so as to perform soft limiting control on the motion of the joint.
Further, in the present embodiment, specific types of location information include, but are not limited to: damping control of the starting point position and the bounce-off position; in some possible embodiments, the step S200 may specifically include:
step S201, determining a joint limit strategy executed at the current moment to limit and control the joint as the speed reduction strategy according to the damping control starting point position;
in this embodiment, when the terminal device detects a specific type of the received position information to determine that the joint limiting policy for performing soft limiting control on the motion of the joint is to be executed at the current time, if the terminal device detects that the specific type of the position information is the damping control start point position, the terminal device immediately determines that the joint limiting policy to be executed at the current time is specifically the reduced speed policy.
Step S202, determining a joint limiting strategy executed at the current moment to limit and control the joint as the strategy for applying the reverse acting force according to the bouncing-off position.
In this embodiment, when the terminal device detects the specific type of the received position information to determine the joint limiting strategy to be executed at the current time to perform the soft limiting control on the motion of the joint, if the terminal device detects that the specific type of the position information is the pop-off position, the terminal device immediately determines that the joint limiting strategy to be executed at the current time is specifically the applied-reverse-acting-force strategy.
Step S300, controlling an actuator of the joint to reduce the movement speed of the joint according to the speed reduction strategy;
in this embodiment, as shown in the application scenario of fig. 3, the terminal device determines that the joint limiting strategy to be executed at the current time is a reduced speed strategy by detecting the position information of the received joint moving to the distance from the preset joint limit position as the damping control starting point position, and immediately responds to the reduced speed strategy to modify the output signal of the joint controller to control the actuator of the joint to reduce the speed of the joint moving in the damping area of the joint.
And S400, controlling an actuator of the joint to apply acting force for enabling the joint to be far away from the preset joint limit position according to the strategy for applying the reverse acting force.
In this embodiment, as shown in the application scenario of fig. 3, the terminal device detects the received position information of the joint moving to a distance from the preset joint limit position as the pop-off position, so as to determine that the joint limit strategy to be executed at the current time is the reverse acting force applying strategy, immediately responds to the reverse acting force applying strategy to modify the output signal of the joint controller to control the actuator of the joint to apply the reverse acting force for making the joint far away from the preset joint limit position when the joint moves in the pop-off area, and finally reduces the overall moving speed to zero before the joint moves to the preset joint limit position, thereby eliminating the impact force of the joint movement to the preset joint limit position.
Further, in some possible embodiments, the method for controlling joint position limitation according to the present invention may further include:
step S500, determining the movement range of the joint, and determining the maximum limit position of the movement range as the preset joint limit position;
it should be noted that, in this embodiment, the maximum limit position may specifically be a mechanical limit position of the joint: the mechanical edge boundary point, or the maximum limit position, may in particular also be a control boundary position point of the joint.
In this embodiment, before performing soft limit control on the joint motion, the terminal device first determines a motion range in which the joint normally moves between the mechanical limit position on one side and the mechanical limit position on the other side of the joint, and then the terminal device determines the mechanical limit position-mechanical edge limit position on both sides of the motion range, or the control boundary position point of the joint, as the preset joint limit position.
Step S600, setting position information comprising a damping control starting point position and a bounce-off position in the motion range, wherein the distance between the damping control starting point position and the preset joint limit position is greater than the distance between the bounce-off position and the preset joint limit position.
In the present embodiment, after first determining the preset joint limit position of the joint movement range, the terminal device further sets the respective position information in the movement range, that is, sets the bounce position in the respective position information at a position closer to the preset joint limit position, and sets the damping control start point position in the respective position information at a position farther from the preset joint limit position.
Specifically, for example, as shown in the application scenario of fig. 3, the terminal device sets a control boundary position point, a bounce-off position point, and a damping control start position point in the normal movement range of the joint in sequence from the mechanical edge limit position of the joint movement in advance based on receiving configuration parameters for performing soft limit control on the joint movement, and further divides the movement range into a damping area, a bounce-off area, and a safety area according to the position points.
In the embodiment, the position information of the joint moving to the position away from the preset joint limit position in the driving operation process of the actuator is received and obtained by using the joint controller through the terminal equipment; thereafter, the specific type of the position information is further detected to determine whether the joint limiting strategy corresponding to the position information is a reduced speed strategy or an applied counter force strategy.
Therefore, the terminal device determines that the joint limiting strategy to be executed at the current moment is a speed reduction strategy by detecting the position information of the received joint moving to the position far away from the preset joint limit position as the damping control starting point position, and immediately responds to the speed reduction strategy to modify the output signal of the joint controller so as to control the actuator of the joint to reduce the speed of the joint moving in the damping area. Or the terminal device detects the received position information of the joint moving to the position far away from the preset joint limit position as the bounce-off position, so that after the joint limit strategy to be executed at the current moment is determined to be the reverse acting force applying strategy, the terminal device immediately responds to the reverse acting force applying strategy to modify the output signal of the joint controller to control the actuator of the joint to apply the reverse acting force for enabling the joint to be far away from the preset joint limit position when the joint moves in the bounce-off area, and finally the overall movement speed is reduced to zero before the joint moves to the preset joint limit position, so that the impact force of the joint movement to the preset joint limit position is eliminated.
Compared with the existing mode of limiting the joint movement by adopting a limiting device mainly based on hardware limiting, the invention determines the corresponding joint limiting strategy according to the position information of the joint movement to the position far away from the joint limit position and responds, thereby controlling the actuator of the joint to reduce the movement speed of the joint or controlling the actuator to apply acting force for enabling the joint to be far away from the preset joint limit position, and finally reducing the movement speed to zero before the joint movement reaches the joint limit position to eliminate the impact force on the boundary position. Therefore, the invention realizes the flexible soft limit of the joint of the robot, and effectively avoids the condition that the joint is easily damaged to cause safety accidents in the existing limit mode by hardware.
Further, in some possible embodiments, in step S300, controlling the actuator of the joint to reduce the movement speed of the joint according to the speed reduction strategy may specifically include:
step S301, calculating damping control weight according to the real-time motion position of the joint according to the speed reduction strategy;
and S302, superposing the damping control weight on the drive control of the actuator for the joint so as to reduce the speed feedback to control the actuator to reduce the movement speed of the joint.
In this embodiment, in response to the deceleration strategy corresponding to the position of the start point of the damping control, the terminal device first calculates the damping control weight according to the real-time motion position of the joint moving in the damping area. And then, the terminal device superimposes the calculated damping control weight on the drive control of the joint executed by the actuator of the joint, so that the actuator is controlled to reduce the movement speed of the joint in the movement process of the joint in the damping area.
Specifically, for example, refer to the one shown in FIG. 3An application scenario and an application flow as shown in fig. 4, in this embodiment, assume that the mechanical edge boundary point of the joint is qmipAnd in the motion range of the normal motion of the joint, the control boundary position point is qclpThe bounce-off position is qspThe damping control initial position is qdbpAnd the damping region divided based on the respective positions is regdampThe bounce off region is regspringSafe area is regsafe. Thus, the terminal device receives the position information of the joint motion as the damping control start position q using the joint controllerdbpTo determine the damping region reg to which the joint is now movingdampImmediately thereafter, the damping control start position q is respondeddbpThe corresponding reduced speed strategy is to start the soft limit control slc for the movement of the joint, i.e.:
first of all in the damping region reg according to the jointdampReal-time motion position q in which a motion is taking placeaCalculating damping control weight kdamp_weightThe damping control weight kdamp_weightSpecifically [0,1 ]]A damping region reg in which the real-time movement position of the joint movement is between the damping control start position and the pop-off positiondampTime, damping control weight kdamp_weightThe real-time motion position of the joint is obtained by interpolation based on methods such as linear interpolation, exponential interpolation and the like.
And is located at the damping control starting position, namely q, at the real-time motion position of the jointa＝qdbpThe damping control weight kdamp_weight0, and when the real-time motion position is in the bounce-off position, i.e. qa＝qspThe damping control weight kdamp_weight＝1。
The terminal equipment calculates to obtain the damping control weight kdamp_weightAfter the specific value of (c), the damping control weight k is further setdamp_weightSuperimposed on the differential controller of the actuator of the joint for damping the effect of the differential controller, i.e. based on a damping control weight k varying gradually between 0 and 1damp_weightGradually reducing the degree of adjustment of the speed error signalUntil zero, i.e. the effect of the corresponding tapering velocity feedback reaches zero, to effect control of the actuator to reduce the velocity of the joint movement during movement of the joint in the damping region.
In the present embodiment, the reduction speed feedback is a control command for driving the joint by the actuator, in which a part of command data for pushing the joint closer to the control boundary is superimposed and reduced, and the speed of the joint motion can be reduced based on the part of command data. In this way, the terminal device can still face the control boundary position q in performing the soft limit control for the jointclpMove to achieve proximity to qclpBut the joint is close to qclpApproaching with decreasing velocity.
Further, in some possible embodiments, if the terminal device detects that the joint is facing the control boundary position qclpThe faster the movement speed is, the more the terminal device is modified by the actuator controller to the signal, i.e. the more part of the command data for reducing the pushing of the joint closer to the control boundary is superimposed on the control command for driving the joint by the actuator, so that the running speed of the joint can be slowed down more quickly.
In the present embodiment, modification of the control signal by superimposing a portion of the instruction data for reducing the push of the joint closer to the control boundary position on the control instruction for the actuator to drive the joint to move effectively simulates the joint moving away from the control boundary position qclpIs applied to the joint and the force is related to the velocity of the joint.
Further, in some possible embodiments, in step S400, the step of controlling the actuator of the joint to apply the force for moving the joint away from the preset joint limit position according to the counter-force applying strategy may specifically include
Step S401, calculating a bounce-off control weight according to the real-time motion position of the joint according to the strategy of applying the reverse acting force;
and S402, superposing the bouncing control weight on the driving control of the actuator for the joint so as to control the actuator of the joint to apply an acting force for enabling the joint to be far away from the preset joint limit position.
In this embodiment, in response to the strategy of applying the counter acting force corresponding to the pop-up position, the terminal device first calculates the pop-up control weight according to the real-time motion position of the joint moving in the pop-up area. And then, the terminal equipment superposes the calculated ejection control weight to the drive control of the joint actuator on the joint, so that the actuator is controlled to apply acting force for enabling the joint to be far away from the preset joint limit position in the movement process of the joint in the ejection area.
Specifically, for example, referring to an application scenario as shown in fig. 3 and an application flow as shown in fig. 4, in the present embodiment, the terminal device receives the position information of the joint motion as the pop-off position q using the joint controllerspTo determine the region reg of the joint movement to bounce off at this timespringImmediately thereafter, responding to the bouncing-off position qspThe corresponding counter-force-applying strategy is to begin soft-stop control for the motion of the joint, i.e.:
first reg in the ejection area according to the jointspringReal-time motion position q in which a motion is taking placeaCalculating bounce off control weight kspring_weightThe pop-off control weight kspring_weightSpecifically [0,1 ]]I.e. the bounce area reg in which the real-time movement position of the joint movement is located between the bounce position and the control boundary positionspringTime of flight, bounce off control weight kspring_weightThe real-time motion position of the joint is obtained by interpolation based on methods such as linear interpolation, exponential interpolation and the like.
And in the sprung position, i.e. q, of the joint in its real-time movement positiona＝qspWhen the weight k is controlled by the pop-offspring_weight0, and when the real-time motion position is at the control boundary position, i.e. qa＝qclpWhile the damping control weight kdamp_weight＝1。
Terminal equipment is countingCalculating out the pop-off control weight kspring_weightAfter the specific value of (c), further ejecting the control weight kspring_weightThe actuator which is superposed on the joint performs drive control on the joint, so that the actuator is controlled to apply the position q which leads the joint to be far away from the control boundary in the movement process of the joint in the bouncing-off areaclpThe force of (2).
Note that, in the present embodiment, as shown in fig. 2, the terminal device superimposes the bounce control weight kspring_weightTo the driving control of the actuator to the joint for controlling the actuator to exert a force that moves the joint away from the preset joint limit position, it is possible to further reduce the joint velocity by increasing the feed forward term of velocity, i.e. pushing the joint away from the control boundary position q like a springclpTo be implemented. In addition, the terminal device specifically adopts an interpolation method to calculate the bounce control weight kspring_weightThe pop-off control weight kspring_weightIs correlated with the real-time movement position of the joint, such that the closer the joint is to the control boundary position qclpWhile applying a push joint away from the control boundary position qclpThe greater the force, i.e. the joint is moved away from the control boundary position qclpIs determined by the magnitude of the force and the real-time movement position of the joint to the control boundary position qclpIs inversely proportional to the magnitude of the distance (c).
Further, in some possible embodiments, the step S401 may further include:
and calling a preset bounce-off force ratio controller according to the applied reverse acting force strategy to calculate and obtain the bounce-off control weight according to the real-time movement position of the joint, wherein the acting force of the actuator for enabling the joint to be far away from the preset joint limit position by superposing the bounce-off control weight is in inverse proportion to the distance between the real-time movement position and the preset joint limit position.
In this embodiment, in order to further improve the soft limit control effect on the joint motion, in the process of responding to the above-mentioned counter acting force applying strategy corresponding to the bounce-off position, the terminal device may further invoke a preset bounce-off force ratio controller to calculate a bounce-off control weight according to the real-time motion position of the joint, and after the terminal device calculates the bounce-off control weight, the actuator of the joint makes the acting force of the joint away from the preset joint limit position by superimposing the bounce-off control weight in inverse proportion to the distance between the real-time motion position and the preset joint limit position.
It should be noted that, in this embodiment, the preset elastic force ratio controller is a controller configured in advance for the terminal device and used for controlling a correlation between an acting force pushing away the joint from the preset joint limit position and a real-time movement position of the joint and the preset joint limit position when the terminal device calculates the elastic force control weight.
Specifically, for example, as shown in the application flow of fig. 4, the terminal device will bounce off the desired force f by adding or activating a preset bounce-off force proportional controllerslcdDesigned to be correlated with the real-time kinematic position of the joint, namely:
fslcd＝kspring_weight*Fj_out_max
wherein, Fj_out_maxTo be away from the control boundary position qclpThe maximum joint force output by the actuator.
So, terminal equipment can be specifically designed as:
outslc,f＝kslc_f*kspring_weight*(fslcd-f)
among them, outslc,fFor the output signal of the spring-force ratio controller, kslc_fIs the controller scaling factor. The spring force ratio controller is also similar to a spring, i.e., based on a spring force control weight k calculated by the spring force ratio controllerspring_weightIn relation to the real-time kinematic position of the joint: the closer the joint is to the control boundary position qclpWhile applying a pushing joint away from the control boundary position qclpIs correspondingly greater, and thus the joint is moved away from the control boundary position qclpIs determined by the magnitude of the force and the real-time movement position of the joint to the control boundary position qclpIs inversely proportional to the magnitude of the distance (c).
Further, in some possible embodiments, after determining the corresponding joint limiting strategy according to the position information in step S200, the joint limiting control method of the present invention may further include:
and S600, controlling an actuator of the joint to reduce the movement speed of the joint according to the speed reduction strategy, and simultaneously controlling the actuator of the joint to apply an acting force for enabling the joint to be far away from the preset joint limit position according to the strategy for applying the reverse acting force.
In this embodiment, in addition to controlling the soft limit of the joint based on whether the real-time movement position of the joint is specifically in the damping region or the bounce-off region in response to the corresponding joint limit strategy, the terminal device may simultaneously control the actuator of the joint to reduce the movement speed of the joint in response to the above speed reduction strategy and control the actuator to apply the acting force for moving the joint away from the preset joint limit position in response to the above applying counter-acting force strategy when the real-time movement position is in the damping region or the bounce-off region.
Specifically, for example, as shown in the application scenario of fig. 3 and the application flow of fig. 4, the terminal device receives the position information of the joint movement through the joint controller, and determines that the real-time movement position of the joint is closer to the control boundary position q by detecting the position informationclpIs bounced off the area regspringImmediately, the terminal device executes a deceleration strategy in accordance with the process response of step S300 above to modify the output control signal by the actuator controller to further decelerate the movement of the joint, and simultaneously executes a counter-force application strategy in accordance with the process response of step S400 above to effect control of the actuator in driving the joint away from the control boundary position qclpIn the direction of (a).
In addition, the embodiment of the invention also provides a control device for limiting the joint.
Referring to fig. 5, the control device for limiting the joint of the present invention is applied to the terminal device, and the control device for limiting the joint of the present invention includes:
the position acquisition module is used for acquiring position information of the joint moving to a position away from a preset joint limit position;
a position limiting strategy determining module, configured to determine a corresponding joint position limiting strategy according to the position information, where the joint position limiting strategy includes: a speed reduction strategy and a counter force application strategy;
the limiting control module is used for controlling the actuator of the joint to reduce the movement speed of the joint according to the speed reduction strategy; or the actuator for controlling the joint to apply the acting force for moving the joint away from the preset joint limit position according to the strategy for applying the counter acting force.
Optionally, the location information at least includes: damping control of the starting point position and the bounce-off position; the limiting strategy determining module is further used for:
determining a joint limiting strategy executed at the current moment to limit and control the joint as the speed reduction strategy according to the damping control starting point position;
or,
and determining a joint limiting strategy executed at the current moment to limit and control the joint as the strategy for applying the reverse acting force according to the bouncing-off position.
Optionally, the control device for joint limiting of the present invention further comprises:
the movement range determining module is used for determining the movement range of the joint and determining the maximum limit position of the movement range as the preset joint limit position;
and the position setting module is used for setting position information comprising a damping control starting point position and a bounce-off position in the motion range, wherein the distance between the damping control starting point position and the preset joint limit position is greater than the distance between the bounce-off position and the preset joint limit position.
Optionally, the limit control module includes:
the first calculation unit is used for calculating damping control weight according to the real-time motion position of the joint according to the speed reduction strategy;
and the first limit control unit is used for superposing the damping control weight on the drive control of the actuator on the joint so as to reduce speed feedback to control the actuator to reduce the movement speed of the joint.
Optionally, the limit control module includes:
the second calculation unit is used for calculating the bounce control weight according to the real-time movement position of the joint according to the strategy of applying the reverse acting force;
and the second limit control unit is used for superposing the bounce control weight to the drive control of the actuator for the joint so as to control the actuator of the joint to apply an acting force for enabling the joint to be far away from the preset joint limit position.
Optionally, the second calculating unit is further configured to invoke a preset bounce-off force ratio controller according to the applied reverse acting force strategy to calculate the bounce-off control weight according to the real-time moving position of the joint, where the actuator superimposes the bounce-off control weight so that the acting force of the joint away from the preset joint limit position is inversely proportional to the distance between the real-time moving position and the preset joint limit position.
Optionally, the limit control module is further configured to control the actuator of the joint to reduce the movement speed of the joint according to the speed reduction strategy, and simultaneously control the actuator of the joint to apply an acting force for making the joint far away from the preset joint limit position according to the counter acting force applying strategy.
When executed, each functional module of the control device for controlling joint limit according to the present invention implements the above-mentioned embodiments of the control method for controlling joint limit, which are not described herein again.
In addition, an embodiment of the present invention further provides a computer-readable storage medium, which is applied to a computer and can be a non-volatile computer-readable storage medium, where a joint position limiting control program is stored on the computer-readable storage medium, and when the joint position limiting control program is executed by a processor, the steps of the joint position limiting control method described above are implemented.
In addition, the embodiment of the invention also provides a joint-limited control program product, which includes an architectural program of store visitor information, and when the architectural program of the store visitor information is executed by a processor, the steps of the architectural method of the store visitor information are realized.
The steps implemented when the control program for controlling joint position limitation running on the processor is executed may refer to various embodiments of the control method for controlling joint position limitation of the present invention, and are not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A control method for joint limit is characterized by comprising the following steps:
acquiring position information of a joint moving to a distance from a preset joint limit position;
determining a corresponding joint limiting strategy according to the position information, wherein the joint limiting strategy comprises: a speed reduction strategy and a counter force application strategy;
controlling an actuator of the joint to reduce the movement speed of the joint according to the speed reduction strategy; or,
and controlling the actuator of the joint to apply the acting force for moving the joint away from the preset joint limit position according to the applying counter acting force strategy.
2. The method of claim 1, wherein the position information comprises at least: damping control of the starting point position and the bounce-off position;
the step of determining a corresponding joint limiting strategy according to the position information comprises:
determining a joint limiting strategy executed at the current moment to limit and control the joint as the speed reduction strategy according to the damping control starting point position;
or,
and determining a joint limiting strategy executed at the current moment to limit and control the joint as the strategy for applying the reverse acting force according to the bouncing-off position.
3. The method of controlling joint limitation according to claim 1 or 2, further comprising:
determining the movement range of the joint, and determining the maximum limit position of the movement range as the preset joint limit position;
and setting position information comprising a damping control starting point position and a bounce-off position in the motion range, wherein the distance between the damping control starting point position and the preset joint limit position is greater than the distance between the bounce-off position and the preset joint limit position.
4. The method for controlling joint spacing according to claim 1, wherein the step of controlling the actuator of the joint according to the velocity reduction strategy to reduce the velocity of motion of the joint comprises:
calculating damping control weight according to the real-time motion position of the joint according to the speed reduction strategy;
and superposing the damping control weight to the drive control of the actuator for the joint so as to reduce the velocity feedback to control the actuator to reduce the motion velocity of the joint.
5. The method for controlling joint spacing according to claim 1, wherein said step of controlling said actuator of said joint according to said counter-force-applying strategy to apply a force that moves said joint away from said predetermined joint limit position comprises:
calculating the bounce-off control weight according to the real-time movement position of the joint according to the strategy of applying the reverse acting force;
and superposing the bounce control weight on the drive control of the actuator for the joint so as to control the actuator of the joint to apply acting force for enabling the joint to be far away from the preset joint limit position.
6. The method of claim 5, wherein the step of calculating a bounce control weight based on the real-time kinematic position of the joint according to the applied counter-force strategy comprises:
and calling a preset bounce-off force ratio controller according to the applied reverse acting force strategy to calculate and obtain the bounce-off control weight according to the real-time movement position of the joint, wherein the acting force of the actuator for enabling the joint to be far away from the preset joint limit position by superposing the bounce-off control weight is in inverse proportion to the distance between the real-time movement position and the preset joint limit position.
7. The method of controlling joint limiting of claim 1, wherein after the step of determining a corresponding joint limiting strategy from the position information, the method further comprises:
and controlling an actuator of the joint to reduce the movement speed of the joint according to the speed reduction strategy, and simultaneously controlling the actuator of the joint to apply acting force for enabling the joint to be far away from the preset joint limit position according to the opposite acting force applying strategy.
8. A control device for joint limit is characterized in that the control device for joint limit comprises:
the position acquisition module is used for acquiring position information of the joint moving to a position away from a preset joint limit position;
a position limiting strategy determining module, configured to determine a corresponding joint limiting strategy according to the position information, where the joint limiting strategy includes: a speed reduction strategy and a counter force application strategy;
the limiting control module is used for controlling the actuator of the joint to reduce the movement speed of the joint according to the speed reduction strategy; or the actuator for controlling the joint to apply the acting force for moving the joint away from the preset joint limit position according to the strategy for applying the counter acting force.
9. A terminal device, characterized in that the terminal device comprises: memory, a processor and a control program for joint limitation stored on the memory and executable on the processor, the control program for joint limitation implementing the steps of the control method for joint limitation according to any one of claims 1 to 7 when executed by the processor.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a control program of joint limitation, which when executed by a processor implements the steps of the control method of joint limitation according to any one of claims 1 to 7.
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