CN118700164A - Control method and system for clamping mechanical arm - Google Patents
Control method and system for clamping mechanical arm Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 79
- 230000033001 locomotion Effects 0.000 claims abstract description 85
- 230000001133 acceleration Effects 0.000 claims abstract description 57
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims abstract description 29
- 229910052802 copper Inorganic materials 0.000 claims abstract description 29
- 239000010949 copper Substances 0.000 claims abstract description 29
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- 238000002788 crimping Methods 0.000 claims abstract description 18
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Abstract
The invention relates to the technical field of mechanical arm control and discloses a control method and a control system for a clamping mechanical arm, wherein the control method comprises the steps that the clamping mechanical arm is used for clamping a copper column and transferring the copper column into a crimping jig, and the control method comprises the steps of acquiring a mechanical arm path based on a clamping task, detecting collision risk in real time and adjusting the path or braking; analyzing the moment in the motion process, calculating the driving force distribution of each joint, and considering the motion range, the speed, the acceleration and the physical size limitation; and monitoring actual driving force and load in the execution process, and dynamically adjusting distribution. The invention ensures the safety, reliability and high efficiency of the clamping mechanical arm when executing tasks through accurate calculation and real-time detection.
Description
Technical Field
The invention relates to the technical field of mechanical arm control, in particular to a control method and a control system for clamping a mechanical arm.
Background
In the field of modern industrial automation, mechanical arms are increasingly widely used, especially in precision assembly, material handling, hazardous environment operation and the like. In order to improve the operation efficiency and accuracy of the mechanical arm, a higher requirement is put on a control method of the mechanical arm. The conventional mechanical arm control method mainly depends on a preset program and experience of an operator, which limits flexibility and adaptability of the mechanical arm to a certain extent.
Therefore, it is important to invent an innovative control method and system for the clamping mechanical arm.
Disclosure of Invention
In view of the above, the invention provides a control method and a control system for clamping a mechanical arm, which aim to overcome the limitation of the traditional mechanical arm control method and improve the autonomous decision making capability and the accurate operation capability of the mechanical arm in a complex environment.
The invention provides a control method for a clamping mechanical arm, which is used for clamping a copper column and transferring the copper column into a crimping jig, and comprises the following steps:
Acquiring a moving path of the clamping mechanical arm in a working space based on the clamping task; detecting potential collision risk of the clamping mechanical arm in real time, and performing emergency braking or moving path adjustment according to a detection result of the potential collision risk;
Analyzing moment required in the movement process of the clamping mechanical arm according to the movement path, and calculating to obtain driving force distribution of each joint of the clamping mechanical arm according to the moment and the movement range, the speed limit and the acceleration limit of the joints and the physical size limit of the clamping mechanical arm;
in the process of executing the clamping task, the clamping mechanical arm monitors the actual driving force and load of each joint in real time, and dynamically adjusts the driving force distribution according to the monitoring result.
Preferably, when acquiring a moving path of the gripping robot arm in the working space based on the gripping task, the method includes:
Acquiring task parameters, wherein the task parameters comprise an initial position of a copper column and a target placement position in a crimping jig;
Determining a starting point and a target point of the clamping mechanical arm according to the task parameters, and generating an initial moving path of the clamping mechanical arm based on the relative positions between the starting point and the target point;
Based on the initial moving path, combining the task parameters and the kinematic constraint conditions of the clamping mechanical arm, performing kinematic verification on the initial moving path, and obtaining the moving path after the verification is completed;
The kinematic constraint conditions comprise a maximum rotation angle, a maximum angular velocity and a maximum angular acceleration of each joint of the clamping mechanical arm.
Preferably, determining a starting point and a target point of the gripping mechanical arm according to the task parameter, and generating an initial movement path of the gripping mechanical arm based on a relative position between the starting point and the target point, where the initial movement path comprises:
Acquiring an initial position of a copper column, setting a central position of the copper column as a starting point and marking the starting point as Pstart, ；
Obtaining a target placement position in the crimping jig, setting the central position of the target placement position in the crimping jig as a target point and marking as Pgoal,；
Generating a path intermediate point according to a linear interpolation formula, wherein the linear interpolation formula is as follows:；
wherein P (s (t)) represents coordinates of a path intermediate point; s represents a path parameter, representing an interpolation ratio from a starting point to a target point;
And generating an initial moving path of the clamping mechanical arm according to the starting point, the target point and the middle point.
Preferably, based on the initial moving path, combining the task parameter and a kinematic constraint condition of the gripping mechanical arm, performing kinematic verification on the initial moving path, and when the verification is completed, obtaining the moving path includes:
marking a path intermediate point on a path as a key point on the initial moving path; acquiring a rotation angle theta i (s (t)), an angular speed beta i (s (t)) and an angular acceleration epsilon i (s (t)) of a joint i of the clamping mechanical arm at each key point, and checking the key point on the initial moving path according to a constraint formula;
the rotation angle constraint formula is that thetaimin is less than or equal to thetaii (s (t))isless than or equal to thetaimax, ∀ i=1, 2, … …, n; wherein θimin represents the minimum rotation angle of the joint i, θimax represents the maximum rotation angle of the joint i, and n represents the total number of joints of the mechanical arm;
The angular velocity constraint formula is ∀ I=1, 2, … …, n; wherein, Representing the maximum allowable angular velocity of joint i; the angular velocity βi (s (t)) is calculated from the first derivative of the path parameter s with respect to time t:
；
The angular acceleration constraint formula is ∀ I=1, 2, … …, n; wherein εi max represents the maximum allowable angular acceleration of joint i; the angular acceleration epsilon i (s (t)) is calculated by calculating the second derivative of the path parameter s with respect to time t:
；
When the rotation angle theta i (s (t)), the angular speed beta i (s (t)) and the angular acceleration epsilon i (s (t)) of the joint i of the clamping mechanical arm all meet constraint formulas, the key point is considered to meet a kinematic constraint condition;
when all key points meet the kinematic constraint condition, the initial moving path becomes a moving path of the clamping mechanical arm;
and when key points which do not meet the constraint conditions exist, carrying out path adjustment on the initial moving path to obtain the moving path of the clamping mechanical arm.
Preferably, when there is a key point that does not satisfy the constraint condition, performing path adjustment on the initial movement path to obtain a movement path of the gripping mechanical arm, including:
Calculating and obtaining adjustment quantity required by key points which do not meet constraint conditions based on the rotation angle, the angular speed and the angular acceleration of the key points and the difference value of the constraint conditions;
According to the calculated adjustment quantity, adjusting the position, angle or time parameter of the key points which do not meet the constraint condition; smoothing the adjusted key points by using a smoothing technology, and then interpolating the paths again to generate new continuous paths;
And performing kinematic verification on the new continuous path, and repeatedly iterating until all key points and path segments meet constraint conditions, wherein the adjusted path is used as a final moving path.
Preferably, detecting, in real time, a potential collision risk of the gripping mechanical arm, and performing emergency braking or movement path adjustment according to a detection result of the potential collision risk includes:
Let Ki be the coordinate of a certain point on the gripping mechanical arm, lj be the coordinate of a certain point on the environmental object, calculate the distance dij between the two: ; wherein, Representing the euclidean norm of the vector;
and when the Dij is smaller than the preset safety distance, judging that the clamping mechanical arm has potential collision risk, and performing emergency braking or moving path adjustment at the moment.
Preferably, the condition of emergency braking is defined as; When the emergency braking condition is met, setting the speed of clamping all joints of the mechanical arm to be zero;
Calculating an offset delta K according to an obstacle avoidance algorithm, setting an original path point as Korig, and setting an adjusted path point as Knew, wherein knew= Korig +delta K; and adjusting the path point in real time according to the Knew to adjust the moving path.
Preferably, analyzing the moment required in the movement process of the clamping mechanical arm according to the movement path, and calculating to obtain the driving force distribution of each joint of the clamping mechanical arm according to the moment, the movement range of the joint, the speed limit, the acceleration limit and the physical size limit of the clamping mechanical arm, wherein the method comprises the following steps:
The speed and acceleration on the moving path are obtained by calculating the first and second derivatives of the path parameter s:
；
；
Wherein v (t) represents the speed on the moving path; a (t) represents acceleration on a moving path;
The total moment Mtatol is calculated from the acceleration a (t) on the moving path:
；
；
；
；
wherein F (t) represents the force required to grip the end effector of the robotic arm; m represents the sum of the masses of the copper column and the end effector; m (t) represents a static moment obtained by converting a jacobian matrix of the force required by the end effector; mdyn (t) represents a dynamic torque; JT (t) represents the transpose of the jacobian matrix; i (t) represents an inertia matrix; alpha (t) represents a joint acceleration vector; c (t) represents a Coriolis force matrix; g (t) represents a gravity matrix; beta (t) represents the joint velocity vector.
Preferably, the analyzing the moment required in the moving process of the clamping mechanical arm according to the moving path, and calculating according to the moment, the moving range of the joint, the speed limit, the acceleration limit, and the physical size limit of the clamping mechanical arm to obtain the driving force distribution of each joint of the clamping mechanical arm further includes:
the torque Ti output by the driver corresponding to joint i is calculated by the following calculation formula:
；
；
；
Wherein ηi represents the efficiency of the transmission system and ηi < 1; γi represents the gear ratio of the transmission system; mtotal, i (t) represents the total moment of the ith joint; mi (t) represents the static moment of the ith joint obtained by converting the force F (t) required by the end effector through a jacobian matrix; mdyn, i (t) is the dynamic moment generated by the ith joint due to factors such as inertial force, coriolis force and gravity; mtotal (t) is a vector representing the moment requirements of all joints of the manipulator at a given point in time t.
Compared with the prior art, the invention has the beneficial effects that:
The clamping mechanical arm control system has good expansibility and compatibility, and specifically: the path safety and reliability of the clamping mechanical arm when executing the task are ensured through accurate kinematic constraint condition analysis, so that the risk of mechanical arm damage or task failure caused by path errors is reduced; the adaptability and the safety of the clamping mechanical arm in a complex environment are improved by detecting the potential collision risk in real time and adjusting the emergency braking or moving path, so that the safety of operators and equipment is ensured; the driving force of each joint is reasonably distributed by accurately calculating the moment required in the movement process of the clamping mechanical arm, so that the operation efficiency and stability of the mechanical arm are improved, and the energy consumption and abrasion are reduced; by optimizing path adjustment and moment calculation, the clamping mechanical arm is more flexible and efficient in task execution, and production efficiency and operation quality are improved.
In summary, the invention provides a path planning and moment distribution method for a clamping mechanical arm based on kinematic constraint conditions, which ensures the safety, reliability and high efficiency of the clamping mechanical arm when executing tasks through accurate calculation and real-time detection. Compared with the prior art, the mechanical arm has the advantages of improving the performance of the mechanical arm, simultaneously having good practicability and economy, and having remarkable technical advantages and application value.
The invention also provides a control system for the clamping mechanical arm, which is used for realizing the control method for the clamping mechanical arm, and comprises the following steps:
a controller for generating and processing control signals;
the sensor module is used for monitoring the position, speed, acceleration and position information of the environmental object of the clamping mechanical arm in real time;
The communication module is used for carrying out data exchange with external equipment, receiving a control instruction and sending state information;
The controller generates control signals according to the data provided by the sensor module and in combination with a preset control algorithm, and drives all joints of the clamping mechanical arm to move; the communication module is used for realizing that the control system receives a control instruction of external equipment and sends real-time state information of the clamping mechanical arm to the external equipment.
It can be appreciated that the control method and the system for clamping the mechanical arm have the same beneficial effects, and are not described herein.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
FIG. 1 is a flow chart of a control method for a gripper arm according to the present invention;
fig. 2 is a block diagram of a control system for a gripping robot according to the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.
Referring to fig. 1, the present embodiment provides a control method for a gripping robot, where the gripping robot is used to grip a copper pillar and transfer the copper pillar into a crimping tool, and the control method includes:
Acquiring a moving path of the clamping mechanical arm in a working space based on the clamping task; detecting potential collision risk of the clamping mechanical arm in real time, and performing emergency braking or moving path adjustment according to a detection result of the potential collision risk;
Analyzing moment required in the movement process of the clamping mechanical arm according to the movement path, and calculating to obtain driving force distribution of each joint of the clamping mechanical arm according to the moment and the movement range, the speed limit and the acceleration limit of the joints and the physical size limit of the clamping mechanical arm;
in the process of executing the clamping task, the clamping mechanical arm monitors the actual driving force and load of each joint in real time, and dynamically adjusts the driving force distribution according to the monitoring result.
It will be appreciated that the present embodiment describes a control method that is specific to operating and managing the gripping robot. The main function of the mechanical arm is to grasp an object such as a copper column and safely transfer the object into a crimping jig. In order to achieve this, the control method comprises the following key steps:
Firstly, determining an optimal moving path of the clamping mechanical arm in a working space according to specific requirements of the clamping task. This path planning is critical because it directly relates to the efficiency and safety of the robotic arm.
Next, the operating state of the gripping robot is monitored in real time to detect if there is any potential collision risk. Once a possible collision is detected, emergency braking measures or immediate adjustments to the travel path are taken to avoid any possible accident.
After the movement path is determined, the moment required by the gripping robot during the movement is analyzed. This analysis is based on the moment and range of motion of the joint, speed limits, acceleration limits, and physical size limits of the gripper arm. By comprehensively considering the parameters, the driving force distribution required by clamping each joint of the mechanical arm can be calculated.
Finally, when the clamping mechanical arm starts to execute the clamping task, the system can monitor the actual driving force and load condition of each joint in real time. Through the real-time data, the system can dynamically adjust the driving force distribution, and ensure the stability and the accuracy of the clamping mechanical arm in the task execution process.
Through the steps, the control method not only can ensure the safety and reliability of the clamping mechanical arm when executing tasks, but also can improve the working efficiency of the clamping mechanical arm and reduce unnecessary energy consumption, thereby playing an important role in the field of industrial automation.
In some embodiments of the present application, when acquiring a movement path of a gripping robot arm in a working space based on a gripping task, the method includes:
Acquiring task parameters, wherein the task parameters comprise an initial position of a copper column and a target placement position in a crimping jig;
Determining a starting point and a target point of the clamping mechanical arm according to the task parameters, and generating an initial moving path of the clamping mechanical arm based on the relative positions between the starting point and the target point;
Based on the initial moving path, combining the task parameters and the kinematic constraint conditions of the clamping mechanical arm, performing kinematic verification on the initial moving path, and obtaining the moving path after the verification is completed;
The kinematic constraint conditions comprise a maximum rotation angle, a maximum angular velocity and a maximum angular acceleration of each joint of the clamping mechanical arm.
It will be appreciated that this embodiment relates to planning a movement track of a gripping robot arm in a working space based on a gripping task, and this process includes the following steps:
First, parameter information related to a task is acquired, which parameter information details specific requirements of the task. Specifically, these task parameters cover the starting position information of the copper column and the target position where the copper column needs to be placed, i.e. the target placement position in the crimping jig. These location information provide the necessary reference points for subsequent path planning.
Next, according to these task parameters, the starting position point and the target position point of the gripping robot arm can be determined. The initial position point is the initial position where the clamping mechanical arm starts to execute the task, and the target position point is the final position where the mechanical arm needs to place the copper column. After the two key points are defined, an initial movement path of the gripping robot arm can be initially generated. This path is constructed based on the relative positional relationship between the starting point and the target point, which provides a general direction and order for the movement of the robotic arm.
Based on this initial movement path, various kinematic constraints that the gripper robot may encounter in actual operation are then further considered. These constraints include, but are not limited to, maximum rotational angle limits, maximum angular velocity limits, and maximum angular acceleration limits for each joint of the gripper arm. These constraints ensure that the movement of the robotic arm during the task is both safe and efficient.
After comprehensively considering the task parameters and the kinematic constraint conditions, performing detailed kinematic verification on the initial moving path. This verification procedure is to ensure that the planned path not only meets the task requirements, but is also feasible in the actual movement of the robotic arm. After the verification is completed, an optimized moving path can be obtained, and the path meets the requirements of tasks and considers the motion performance and the safety of the mechanical arm.
In summary, by acquiring the task parameters, determining the starting point and the target point, generating the initial movement path, and performing the kinematic verification, the movement path of the gripping mechanical arm which meets the task requirements and satisfies the kinematic constraint of the mechanical arm can be obtained. The path planning process ensures the smooth completion of the clamping task and simultaneously ensures the safety and the efficiency of the operation of the mechanical arm.
In some embodiments of the present application, determining a start point and a target point of the gripping robot according to the task parameter, and generating an initial movement path of the gripping robot based on a relative position between the start point and the target point includes:
Acquiring an initial position of a copper column, setting a central position of the copper column as a starting point and marking the starting point as Pstart, ；
Obtaining a target placement position in the crimping jig, setting the central position of the target placement position in the crimping jig as a target point and marking as Pgoal,；
Generating a path intermediate point according to a linear interpolation formula, wherein the linear interpolation formula is as follows:；
wherein P (s (t)) represents coordinates of a path intermediate point; s represents a path parameter, representing an interpolation ratio from a starting point to a target point;
And generating an initial moving path of the clamping mechanical arm according to the starting point, the target point and the middle point.
It can be understood that, according to the requirements of the task parameters, the starting point of the clamping mechanical arm and the position of the target point need to be determined first. This process involves detailed analysis and interpretation of the task parameters to ensure that the gripper arm can perform its intended task without error. After the start point and the target point are determined, the next step is to generate an initial movement path of the gripping robot arm based on the relative positional relationship between the two points. This path generation process is critical because it directly relates to whether the robotic arm can efficiently and accurately accomplish the task.
Specifically, first, initial position information of the copper pillar needs to be acquired. The accuracy of the position of the copper pillar as a clamped object is critical to the performance of the entire task. After the initial position of the copper pillar is obtained, the center position of the copper pillar is set as a starting point of the gripping robot arm, and is marked as Pstart. The starting point is the starting point coordinate of the gripper arm to start moving, and is the reference of the whole path planning.
Then, the target placement position in the crimping jig needs to be acquired. The crimping jig is the place where the copper column finally needs to be placed, so the accuracy of the target placement position is not neglected. After the target placement position of the crimping jig is determined, the center position of the position is set as the target point of the gripping robot arm, and is marked Pgoal. The target point is the end point of the movement of the clamping mechanical arm and is the final target of the whole path planning.
After the start point Pstart and the target point Pgoal are determined, the next step is to generate a path intermediate point using a straight line interpolation formula. The straight line interpolation formula may be expressed as P (s (t)), where s represents a path parameter representing an interpolation ratio from a start point to a target point, and t is an interpolation parameter ranging from 0 to 1. By this formula, the coordinates of each intermediate point on the path can be calculated, which constitutes the initial movement path of the gripping robot from the starting point to the target point.
Finally, based on the starting point Pstart, the target point Pgoal, and the intermediate point calculated by the straight line interpolation formula, we can generate an initial movement path for the gripper robot. The path not only considers the relative positions of the starting point and the target point, but also ensures the smoothness and accuracy of the clamping mechanical arm in the moving process through the accurate calculation of the middle point. The path planning method not only improves the task execution efficiency, but also greatly reduces the error rate in the operation process and ensures the smooth completion of the whole task.
In some embodiments of the present application, based on the initial movement path, the method combines the task parameter and the kinematic constraint condition of the gripping mechanical arm to perform kinematic verification on the initial movement path, and when the verification is completed, the method includes:
marking a path intermediate point on a path as a key point on the initial moving path; acquiring a rotation angle theta i (s (t)), an angular speed beta i (s (t)) and an angular acceleration epsilon i (s (t)) of a joint i of the clamping mechanical arm at each key point, and checking the key point on the initial moving path according to a constraint formula;
the rotation angle constraint formula is that thetaimin is less than or equal to thetaii (s (t))isless than or equal to thetaimax, ∀ i=1, 2, … …, n; wherein θimin represents the minimum rotation angle of the joint i, θimax represents the maximum rotation angle of the joint i, and n represents the total number of joints of the mechanical arm;
The angular velocity constraint formula is ∀ I=1, 2, … …, n; wherein, Representing the maximum allowable angular velocity of joint i; the angular velocity βi (s (t)) is calculated from the first derivative of the path parameter s with respect to time t:
；
The angular acceleration constraint formula is ∀ I=1, 2, … …, n; wherein εi max represents the maximum allowable angular acceleration of joint i; the angular acceleration epsilon i (s (t)) is calculated by calculating the second derivative of the path parameter s with respect to time t:；
When the rotation angle theta i (s (t)), the angular speed beta i (s (t)) and the angular acceleration epsilon i (s (t)) of the joint i of the clamping mechanical arm all meet constraint formulas, the key point is considered to meet a kinematic constraint condition;
when all key points meet the kinematic constraint condition, the initial moving path becomes a moving path of the clamping mechanical arm;
and when key points which do not meet the constraint conditions exist, carrying out path adjustment on the initial moving path to obtain the moving path of the clamping mechanical arm.
It can be understood that, in this embodiment, the initial movement path is firstly subjected to the kinematic verification based on the initial movement path while considering the task parameters and the kinematic constraint condition of the gripping robot. After the verification is completed, an optimized movement path can be obtained. The method comprises the following specific steps:
First, the middle point on the path is marked as a key point on the initial movement path. And then, acquiring the rotation angle, the angular speed and the angular acceleration of each joint of the clamping mechanical arm at the key points, and checking whether the key points meet the requirements according to a series of constraint formulas. When the rotation angle, the angular speed and the angular acceleration of each joint of the clamping mechanical arm at a key point all meet constraint formulas, the key point can be considered to meet the constraint conditions of kinematics. If all the key points meet the kinematic constraint condition, the initial movement path can be directly used as the movement path of the clamping mechanical arm. However, if some key points do not meet the constraint condition, we need to make corresponding path adjustment on the initial moving path to ensure that all the key points meet the kinematic constraint condition, so as to obtain the final gripping robot moving path.
In some embodiments of the present application, when there are key points that do not satisfy the constraint condition, performing path adjustment on the initial movement path to obtain a movement path of the gripping mechanical arm, including:
Calculating and obtaining adjustment quantity required by key points which do not meet constraint conditions based on the rotation angle, the angular speed and the angular acceleration of the key points and the difference value of the constraint conditions;
According to the calculated adjustment quantity, adjusting the position, angle or time parameter of the key points which do not meet the constraint condition; smoothing the adjusted key points by using a smoothing technology, and then interpolating the paths again to generate new continuous paths;
And performing kinematic verification on the new continuous path, and repeatedly iterating until all key points and path segments meet constraint conditions, wherein the adjusted path is used as a final moving path.
It will be appreciated that in this embodiment, when it is detected that the critical point fails to meet the predetermined constraint, measures are taken to make necessary adjustments to the initially set movement path to ensure that the gripping robot is able to move along a safe and efficient path. The specific operation steps are as follows:
First, the key points which fail to meet the constraint condition are analyzed in detail, and the rotation angle, the angular velocity and the difference value between the angular acceleration and the corresponding constraint condition are calculated. From these variance values, we can precisely determine the specific amount that each keypoint needs to be tuned.
And then, according to the calculated adjustment quantity, correspondingly adjusting the positions, angles or time parameters of the key points which fail to meet the constraint condition. This step is to ensure that the keypoints meet predetermined motion constraints during movement.
After the adjustment is finished, smoothing is carried out on the adjusted key points by using a smoothing technology so as to eliminate abrupt points in the path and ensure the continuity and fluency of the path. After the processing is completed, a new continuous path is regenerated by interpolation.
Finally, the new continuous path is subjected to kinematic verification, and whether all key points and path segments meet all constraint conditions is checked. And if the unsatisfied constraint conditions are found, repeating the adjustment, smoothing and interpolation generating processes, and performing iterative optimization. This process continues until all of the keypoints and path sections have reached a predetermined constraint. And when all conditions are met, determining the path subjected to repeated iterative adjustment as a final moving path of the clamping mechanical arm.
In some embodiments of the present application, detecting a potential collision risk of the gripping mechanical arm in real time, and performing emergency braking or movement path adjustment according to a detection result of the potential collision risk includes:
Let Ki be the coordinate of a certain point on the gripping mechanical arm, lj be the coordinate of a certain point on the environmental object, calculate the distance dij between the two: ; wherein, Representing the euclidean norm of the vector;
and when the Dij is smaller than the preset safety distance, judging that the clamping mechanical arm has potential collision risk, and performing emergency braking or moving path adjustment at the moment.
It will be appreciated that the present embodiment employs a method of monitoring and assessing in real time the risk of collisions that the gripping robot may encounter during operation. This method involves continuous monitoring of the movement of the gripping arm so that corresponding safety measures can be taken promptly when a potential collision risk is detected. Specifically, this process includes the following steps:
First, ki is set to the coordinate position of any point on the gripper arm, and Lj is set to the coordinate position of any point on the object in the environment. Next, the proximity degree between these two coordinate points is estimated by calculating the distance dij between them. The distance dij is here obtained by calculating the euclidean norm of the vector between the two points, wherein "|||.||||" represents the following. The euclidean norm of the vector, i.e. the length of the vector.
After the distance dij is calculated, it is compared with a preset safety distance threshold. If the calculated distance dij is less than the preset safe distance threshold, then it is determined that the gripping robot is currently at risk of a potential collision. Once this risk is identified, the system will immediately initiate an emergency braking procedure or adjust the path of movement of the gripping robot as appropriate to avoid collisions with objects in the environment.
By the aid of the method, when the distance between the clamping mechanical arm and an environmental object is too short, a reaction can be quickly performed when collision is about to happen, and therefore safety of mechanical arm operation is guaranteed. Such real-time monitoring and response mechanisms are critical to improving the safety performance of automation equipment, especially in applications where operational accuracy and safety requirements are extremely high.
In some embodiments of the application, the emergency braking conditions are defined as; When the emergency braking condition is met, setting the speed of clamping all joints of the mechanical arm to be zero;
Calculating an offset delta K according to an obstacle avoidance algorithm, setting an original path point as Korig, and setting an adjusted path point as Knew, wherein knew= Korig +delta K; and adjusting the path point in real time according to the Knew to adjust the moving path.
It will be appreciated that the triggering conditions for emergency braking of the present embodiment are defined explicitly as a combination of a series of specific parameters or conditions; when these conditions of emergency braking are met, immediate action is taken, specifically, the speed of all joints gripping the arm is quickly and positively adjusted to zero to ensure that the arm is able to stop moving immediately, thereby preventing possible collisions or damage.
To further ensure safety and avoid obstacles, advanced obstacle avoidance algorithms are employed to calculate a necessary offset ΔK. This offset is dynamically calculated based on the current environmental conditions and the position of the obstacle in order to adjust the movement trajectory of the robot arm to avoid the obstacle. After calculating the offset Δk, the system sets the original waypoint to Korig, and then determines the adjusted waypoint, i.e., knew, based on the offset Δk. The adjusted path point Knew is obtained by adding the original path point Korig to the calculated offset Δk.
Once the adjusted path point Knew is determined, the movement path of the robot arm is adjusted in real time according to this new path point. This real-time path adjustment is achieved by continuously monitoring the environmental changes and the obstacle positions and updating the offset Δk and the path point Knew accordingly. By the mode, the clamping mechanical arm can flexibly adapt to the continuously-changing working environment, collision with obstacles is effectively avoided, and meanwhile continuity and efficiency of tasks are maintained. This dynamic adjustment mechanism is one of the key technologies to ensure safe and efficient operation of the robotic arm in complex environments.
In some embodiments of the present application, analyzing a moment required in a motion process of the gripping robot according to the movement path, and calculating to obtain a driving force distribution of each joint of the gripping robot according to the moment, a motion range of the joint, a speed limit, an acceleration limit, and a physical size limit of the gripping robot includes:
The speed and acceleration on the moving path are obtained by calculating the first and second derivatives of the path parameter s:
；
；
Wherein v (t) represents the speed on the moving path; a (t) represents acceleration on a moving path;
The total moment Mtatol is calculated from the acceleration a (t) on the moving path:
；
；
；
；
wherein F (t) represents the force required to grip the end effector of the robotic arm; m represents the sum of the masses of the copper column and the end effector; m (t) represents a static moment obtained by converting a jacobian matrix of the force required by the end effector; mdyn (t) represents a dynamic torque; JT (t) represents the transpose of the jacobian matrix; i (t) represents an inertia matrix; alpha (t) represents a joint acceleration vector; c (t) represents a Coriolis force matrix; g (t) represents a gravity matrix; beta (t) represents the joint velocity vector.
It will be appreciated that this embodiment takes a way to analyze the path of movement and accordingly the moment required by the gripper arm during movement. After the moment is determined, the motion range, the speed limit, the acceleration limit and the physical size limit of the gripping robot arm are further considered to calculate and obtain the driving force distribution of each joint of the gripping robot arm. The method comprises the following specific steps:
first, the velocity v (t) and the acceleration a (t) on the moving path are obtained by calculating the first and second derivatives of the path parameter s. These calculations help understand the motion state of the gripper arm on the path of movement, providing the basis data for subsequent moment calculations.
Next, based on the acceleration a (t) on the movement path, the total moment Mtatol is calculated. The calculation takes into account the force F (t) required to clamp the end effector of the robotic arm, and the sum m of the masses of the copper cylinder and the end effector. In addition, a static moment M (t) obtained by jacobian conversion, and a dynamic moment Mdyn (t) are also considered. The transpose of jacobian JT (t), inertia matrix I (t), joint acceleration vector α (t), coriolis force matrix C (t) and gravity matrix G (t) are also incorporated into the calculation to ensure that the moment calculation is as accurate as possible. Finally, the joint velocity vector βi (t) is also taken into account to ensure that the calculation results can be adapted to the actual movement of the gripping robot.
Through the steps, the driving force distribution required by each joint of the clamping mechanical arm when the mechanical arm executes the task can be accurately calculated, so that the mechanical arm can be ensured to efficiently and accurately complete the clamping task. The calculation method not only improves the operation efficiency of the mechanical arm, but also enhances the adaptability and stability of the mechanical arm in a complex environment.
In some embodiments of the present application, when analyzing the moment required in the movement process of the gripping robot according to the movement path, and calculating to obtain the driving force distribution of each joint of the gripping robot according to the moment, the movement range of the joint, the speed limit, the acceleration limit, and the physical size limit of the gripping robot, the method further includes:
the torque Ti output by the driver corresponding to joint i is calculated by the following calculation formula:
；
；
；
Wherein ηi represents the efficiency of the transmission system and ηi < 1; γi represents the gear ratio of the transmission system; mtotal, i (t) represents the total moment of the ith joint; mi (t) represents the static moment of the ith joint obtained by converting the force F (t) required by the end effector through a jacobian matrix; mdyn, i (t) is the dynamic moment generated by the ith joint due to factors such as inertial force, coriolis force and gravity; mtotal (t) is a vector representing the moment requirements of all joints of the manipulator at a given point in time t.
It can be understood that in order to analyze the moment required to be applied by the gripping robot arm in the moving process in the moving path, the present embodiment not only considers the moment itself, but also integrates factors such as the movement range, the speed limit, the acceleration limit, the physical size limit of the gripping robot arm, and the like, so as to calculate the driving force distribution of each joint of the gripping robot arm. On this basis, accurate calculation of the output torque of the joint driver is also included.
Specifically, the torque Ti of the driver output corresponding to joint i is determined by a calculation formula in which ηi represents the efficiency of the transmission system, the value of ηi being less than 1, since there is an energy loss of any mechanical system; γi represents the gear ratio of the transmission system, reflecting the torque conversion relationship between input and output; mtotal, i (t) represents the total moment demand of the ith joint at a given point in time t; mi (t) is the static moment of the ith joint obtained by converting the force F (t) required by the end effector through a jacobian matrix, and considers the load condition of the end effector; mdyn, i (t) is a dynamic moment generated at the ith joint due to factors such as inertial force, coriolis force and gravity, and reflects the additional moment demand generated by the change of acceleration and speed of the mechanical arm in the motion process; mtotal (t) is a vector that represents the sum of the moment demands of all joints of the manipulator at a particular point in time t.
Through the calculation, the drivers of the joints can provide proper torque output when the clamping mechanical arm executes tasks, so that the precise control and stable operation of the mechanical arm are ensured. The calculation method not only improves the movement efficiency of the mechanical arm, but also enhances the adaptability and reliability of the mechanical arm in a complex environment.
Referring to fig. 2, the present invention further provides a control system for a gripping robot, configured to implement the above control method for a gripping robot, where the control system includes:
a controller for generating and processing control signals;
the sensor module is used for monitoring the position, speed, acceleration and position information of the environmental object of the clamping mechanical arm in real time;
The communication module is used for carrying out data exchange with external equipment, receiving a control instruction and sending state information;
The controller generates control signals according to the data provided by the sensor module and in combination with a preset control algorithm, and drives all joints of the clamping mechanical arm to move; the communication module is used for realizing that the control system receives a control instruction of external equipment and sends real-time state information of the clamping mechanical arm to the external equipment.
It will be appreciated by those skilled in the art that embodiments of the application may be provided as methods, systems, or computer program products. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flowchart and/or block of the flowchart illustrations and/or block diagrams, and combinations of flowcharts and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical aspects of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above embodiments, it should be understood by those of ordinary skill in the art that: modifications and equivalents may be made to the specific embodiments of the invention without departing from the spirit and scope of the invention, which is intended to be covered by the claims.
Claims (10)
1. A control method for a gripping robot arm, wherein the gripping robot arm is used for gripping a copper pillar and transferring into a crimping jig, the control method comprising:
Acquiring a moving path of the clamping mechanical arm in a working space based on the clamping task; detecting potential collision risk of the clamping mechanical arm in real time, and performing emergency braking or moving path adjustment according to a detection result of the potential collision risk;
Analyzing moment required in the movement process of the clamping mechanical arm according to the movement path, and calculating to obtain driving force distribution of each joint of the clamping mechanical arm according to the moment and the movement range, the speed limit and the acceleration limit of the joints and the physical size limit of the clamping mechanical arm;
in the process of executing the clamping task, the clamping mechanical arm monitors the actual driving force and load of each joint in real time, and dynamically adjusts the driving force distribution according to the monitoring result.
2. The control method for a gripping robot according to claim 1, wherein when acquiring a moving path of the gripping robot in a work space based on a gripping task, comprising:
Acquiring task parameters, wherein the task parameters comprise an initial position of a copper column and a target placement position in a crimping jig;
Determining a starting point and a target point of the clamping mechanical arm according to the task parameters, and generating an initial moving path of the clamping mechanical arm based on the relative positions between the starting point and the target point;
Based on the initial moving path, combining the task parameters and the kinematic constraint conditions of the clamping mechanical arm, performing kinematic verification on the initial moving path, and obtaining the moving path after the verification is completed;
The kinematic constraint conditions comprise a maximum rotation angle, a maximum angular velocity and a maximum angular acceleration of each joint of the clamping mechanical arm.
3. The control method for a gripping robot according to claim 2, wherein determining a start point and a target point of the gripping robot according to the task parameter, and generating an initial movement path of the gripping robot based on a relative position between the start point and the target point, comprises:
Acquiring an initial position of a copper column, setting a central position of the copper column as a starting point and marking the starting point as Pstart, ；
Obtaining a target placement position in the crimping jig, setting the central position of the target placement position in the crimping jig as a target point and marking as Pgoal,；
Generating a path intermediate point according to a linear interpolation formula, wherein the linear interpolation formula is as follows:
；
wherein P (s (t)) represents coordinates of a path intermediate point; s represents a path parameter, representing an interpolation ratio from a starting point to a target point;
And generating an initial moving path of the clamping mechanical arm according to the starting point, the target point and the middle point.
4. The control method for a gripping robot according to claim 3, wherein based on the initial movement path, in combination with the task parameter and a kinematic constraint condition of the gripping robot, performing a kinematic check on the initial movement path, and after the check is completed, obtaining the movement path includes:
marking a path intermediate point on a path as a key point on the initial moving path; acquiring a rotation angle theta i (s (t)), an angular speed beta i (s (t)) and an angular acceleration epsilon i (s (t)) of a joint i of the clamping mechanical arm at each key point, and checking the key point on the initial moving path according to a constraint formula;
the rotation angle constraint formula is that thetaimin is less than or equal to thetaii (s (t))isless than or equal to thetaimax, ∀ i=1, 2, … …, n; wherein θimin represents the minimum rotation angle of the joint i, θimax represents the maximum rotation angle of the joint i, and n represents the total number of joints of the mechanical arm;
The angular velocity constraint formula is ∀ I=1, 2, … …, n; wherein, Representing the maximum allowable angular velocity of joint i; the angular velocity βi (s (t)) is calculated from the first derivative of the path parameter s with respect to time t:；
The angular acceleration constraint formula is ∀ I=1, 2, … …, n; wherein εi max represents the maximum allowable angular acceleration of joint i; the angular acceleration epsilon i (s (t)) is calculated by calculating the second derivative of the path parameter s with respect to time t:；
When the rotation angle theta i (s (t)), the angular speed beta i (s (t)) and the angular acceleration epsilon i (s (t)) of the joint i of the clamping mechanical arm all meet constraint formulas, the key point is considered to meet a kinematic constraint condition;
when all key points meet the kinematic constraint condition, the initial moving path becomes a moving path of the clamping mechanical arm;
and when key points which do not meet the constraint conditions exist, carrying out path adjustment on the initial moving path to obtain the moving path of the clamping mechanical arm.
5. The method for controlling a gripping robot according to claim 4, wherein when there is a key point that does not satisfy a constraint condition, performing path adjustment on the initial movement path to obtain a movement path of the gripping robot, the method comprises:
Calculating and obtaining adjustment quantity required by key points which do not meet constraint conditions based on the rotation angle, the angular speed and the angular acceleration of the key points and the difference value of the constraint conditions;
According to the calculated adjustment quantity, adjusting the position, angle or time parameter of the key points which do not meet the constraint condition; smoothing the adjusted key points by using a smoothing technology, and then interpolating the paths again to generate new continuous paths;
And performing kinematic verification on the new continuous path, and repeatedly iterating until all key points and path segments meet constraint conditions, wherein the adjusted path is used as a final moving path.
6. The method for controlling a gripping robot according to claim 5, wherein detecting the risk of potential collision of the gripping robot in real time, and performing emergency braking or movement path adjustment according to the detection result of the risk of potential collision, comprises:
Let Ki be the coordinate of a certain point on the gripping mechanical arm, lj be the coordinate of a certain point on the environmental object, calculate the distance dij between the two: ; wherein, Representing the euclidean norm of the vector;
and when the Dij is smaller than the preset safety distance, judging that the clamping mechanical arm has potential collision risk, and performing emergency braking or moving path adjustment at the moment.
7. The control method for a gripping robot according to claim 6, wherein the condition of emergency braking is defined as; When the emergency braking condition is met, setting the speed of clamping all joints of the mechanical arm to be zero;
Calculating an offset delta K according to an obstacle avoidance algorithm, setting an original path point as Korig, and setting an adjusted path point as Knew, wherein knew= Korig +delta K; and adjusting the path point in real time according to the Knew to adjust the moving path.
8. The method for controlling a gripping robot according to claim 7, wherein analyzing the moment required in the movement process of the gripping robot according to the movement path, and calculating the driving force distribution of each joint of the gripping robot according to the moment and the movement range, the speed limit, the acceleration limit, and the physical size limit of the gripping robot, comprises:
The speed and acceleration on the moving path are obtained by calculating the first and second derivatives of the path parameter s:
；
；
Wherein v (t) represents the speed on the moving path; a (t) represents acceleration on a moving path;
The total moment Mtatol is calculated from the acceleration a (t) on the moving path:
；
；
；
；
wherein F (t) represents the force required to grip the end effector of the robotic arm; m represents the sum of the masses of the copper column and the end effector; m (t) represents a static moment obtained by converting a jacobian matrix of the force required by the end effector; mdyn (t) represents a dynamic torque; JT (t) represents the transpose of the jacobian matrix; i (t) represents an inertia matrix; alpha (t) represents a joint acceleration vector; c (t) represents a Coriolis force matrix; g (t) represents a gravity matrix; beta (t) represents the joint velocity vector.
9. The method for controlling a gripping robot according to claim 8, wherein when analyzing the moment required in the movement process of the gripping robot according to the movement path and calculating the driving force distribution of each joint of the gripping robot according to the moment and the movement range, the speed limit, the acceleration limit, and the physical size limit of the joint, the method further comprises:
the torque Ti output by the driver corresponding to joint i is calculated by the following calculation formula:
；
；
；
Wherein ηi represents the efficiency of the transmission system and ηi < 1; γi represents the gear ratio of the transmission system; mtotal, i (t) represents the total moment of the ith joint; mi (t) represents the static moment of the ith joint obtained by converting the force F (t) required by the end effector through a jacobian matrix; mdyn, i (t) is the dynamic moment of the ith joint due to inertial, coriolis and gravitational factors; mtotal (t) is a vector representing the moment requirements of all joints of the manipulator at a given point in time t.
10. A control system for a gripping robot, characterized by implementing the control method for a gripping robot according to any one of claims 1 to 9, the control system comprising:
a controller for generating and processing control signals;
the sensor module is used for monitoring the position, speed, acceleration and position information of the environmental object of the clamping mechanical arm in real time;
The communication module is used for carrying out data exchange with external equipment, receiving a control instruction and sending state information;
The controller generates control signals according to the data provided by the sensor module and in combination with a preset control algorithm, and drives all joints of the clamping mechanical arm to move; the communication module is used for realizing that the control system receives a control instruction of external equipment and sends real-time state information of the clamping mechanical arm to the external equipment.
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| US5737500A (en) * | 1992-03-11 | 1998-04-07 | California Institute Of Technology | Mobile dexterous siren degree of freedom robot arm with real-time control system |
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