CN104097208B - A kind of multiplex's industry mechanical arm controller based on double-deck CPG - Google Patents

Abstract

The invention discloses a multi-industrial manipulator controller based on a double-layer CPG. By adopting a structure similar to that of the ganglion controlling the movement of invertebrates and the central nervous system of vertebrates, multiple The combination of the industrial manipulator control system and the characteristics of a single industrial manipulator makes the collective cooperation and information interaction of multi-industrial manipulators highly collaborative. Using flexible joints and a rich sensor system, while improving the information utilization rate of the multi-industrial manipulator, it can effectively control the joints of the multi-industrial manipulator, so that the system has high reliability and stability. While ensuring that the industrial robotic arm has sufficient power performance and degrees of freedom, it also has the ability to move autonomously. The robotic arm controller consists of a phase coordination layer and a motion pattern generation layer. The phase coordination layer realizes the phase sequence locking of each industrial robotic arm, and the motion pattern layer performs trajectory planning and attitude adjustment for each industrial robotic arm.

Description

A Multi-Industrial Manipulator Controller Based on Double-Layer CPG

technical field

The invention belongs to the technical field of automatic control, and in particular relates to a multi-industrial manipulator controller based on a double-layer CPG.

Background technique

The central pattern generator (Central Pattern Generator, CPG) is a kind of neuronal network existing in the central nervous system of invertebrates and vertebrates, which can produce rhythmic behavior without rhythmic control or feedback input, such as Walk, swim, etc. The movement of invertebrates is controlled by the ganglion, and the movement of vertebrates is controlled by the central nervous system. The latest research shows that the ganglion and the central nervous system of animals have layered properties, which can be divided into the rhythm generation layer and the movement pattern generation layer.

In industrial production, in the face of increasingly heavy work tasks, it may be difficult or inefficient to use a complex and expensive single industrial robot arm to perform, and multiple industrial robot arms need to work together to complete a given task. Multiple industrial manipulator systems mainly use a single industrial manipulator with limited capabilities to embody swarm intelligence through interaction, coordination and control, so as to cooperate to complete relatively complex given tasks.

The rise of research on multi-industrial manipulators originated from the inspiration of biomimicry. It is an emerging research field after multi-robot systems in the usual sense are endowed with swarm intelligence attributes. Multi-robots are not just a sign of the number of units. Behind the multi-robot collaboration Hidden limited perception and local interaction principles are fundamental. The scale of the control structure corresponding to multiple robots is variable. The number of robots depends on the requirements of the task, and the number of units can range from a few to hundreds or even more. In order for multiple robots to achieve coordination among groups, it is necessary to ensure the effectiveness of communication and negotiation between groups, as well as the effective sharing of information.

In the invention patent CN1857877A, a robot multi-arm control system is disclosed, including a robot controller that communicates through a network and transmits synchronization information from a master controller to one or more slave controllers in order to coordinate the production process. The system takes into account delays in network communication during event timing synchronization for process and motion synchronization. However, if one robot arm is used as the family leader robot, and the remaining robot arms are used as family member robots, there is no information exchange between the robot arms as family members.

Invention patent CN102707675A discloses a swarm robot controller, which includes a coordination layer, a management layer and an execution layer. It adopts predictive weighted layered information technology and performs Mesh networking through a wireless communication module. The method of organically combining the characteristics and controlling the cooperation of the single robot terminal realizes the beneficial effect of interaction and cooperation of group robots without human intervention, improves the work efficiency of collective cooperation of group robots and the accuracy of work in special environments, stability. However, the information exchange between the individual robots is that the terminals of the individual robots receive the operation commands and cooperation information sent by the terminals of other individual robots and the coordination layer, and the received information only affects the terminals.

At present, there are more and more applications of multi-industrial manipulators, but the collective collaboration and information interaction capabilities between the manipulators are insufficient. In addition, most industrial manipulators have multi-section booms or bending structures. The joints connecting the booms play a vital role in the precise control that meets the requirements of the operation. The joints currently used are all rigid joints, which have poor impact resistance and insufficient stability.

Contents of the invention

In order to avoid the deficiencies of the existing technology and overcome the problems of weak collective cooperation and information interaction capabilities between robotic arms, poor impact resistance and insufficient stability, the present invention proposes a multi-industrial robotic arm based on double-layer CPG controller. The controller adopts a structure similar to that of the ganglion that controls the movement of invertebrates and the central nervous system that controls the movement of vertebrates. The effective control of each joint of the robotic arm ensures that the industrial robotic arm has sufficient dynamic performance and degrees of freedom, and at the same time enables the industrial robotic arm to have a certain autonomous movement capability.

The technical solution adopted by the present invention to solve the technical problems is: the mechanical arm controller is composed of a phase coordination layer and a motion pattern generation layer, the phase coordination layer realizes the phase sequence locking of each industrial mechanical arm, and the motion pattern layer controls each industrial mechanical arm Perform trajectory planning and attitude adjustment;

The phase coordination layer includes a rhythm generator corresponding to each industrial mechanical arm, each rhythm generator receives a signal from a tactile sensor corresponding to the industrial mechanical arm, and information exchange can be performed between each rhythm generator, and each rhythm generator generates a phase. Correspond to the phase signal of the industrial mechanical arm and send it to the corresponding controller;

The motion pattern generation layer includes the motion pattern generators of each industrial mechanical arm. The motion pattern generator of each industrial robotic arm consists of a corresponding controller, base, sequentially connected booms, end effectors, flexible joints, and tactile sensors. Force, displacement and torque sensors; the controllers of the industrial manipulators receive the phase signals from the corresponding rhythm generators and the feedback signals of the flexible joints of the industrial manipulators measured by the force, displacement and torque sensors. The joints are controlled, and the trajectory planning of the end effectors of each industrial robotic arm is completed by the corresponding controller; the end effectors of each industrial robotic arm operate according to the path planning of the controller, and perform operations on the work object. And send the contact signal to the tactile sensor, at the same time, the end effector transmits the information generated by the contact with the industrial object to the flexible joints of the industrial manipulator; The force, displacement, and torque sensors are fed back to the corresponding controller, and the control signals sent by the corresponding controller are used to adjust the attitude; the force, displacement, and torque sensors of each industrial mechanical arm are used to measure the force, Displacement and velocity deformation information, and sent to the corresponding controller, each flexible joint has its corresponding set of force, displacement, torque sensors; the tactile sensor of each industrial robot arm is used to measure the performance of the end of each industrial robot arm The contact signal between the generator and the working object is sent to the corresponding rhythm generator.

Beneficial effect

The present invention proposes a multi-industrial manipulator controller based on double-layer CPG. By adopting a structure similar to that of the ganglion controlling invertebrate movement and the central nervous system of vertebrate movement, the multiple The industrial manipulator control system is organically combined with the characteristics of a single industrial manipulator, making multi-industrial manipulator collective collaboration and information interaction efficient and collaborative; the use of flexible joints and rich sensor systems improves the information utilization of multi-industrial manipulators At the same time, the effective control of each joint of the multi-industrial robot arm is realized, so that the system has high reliability and stability. While ensuring that the industrial manipulator has sufficient power performance and degrees of freedom, the industrial manipulator has certain autonomous movement capabilities. The robotic arm controller consists of a phase coordination layer and a motion pattern generation layer. The phase coordination layer realizes the phase sequence locking of each industrial robotic arm, and the motion pattern layer performs trajectory planning and attitude adjustment for each industrial robotic arm.

Description of drawings

A double-layer CPG-based multi-industrial manipulator controller of the present invention will be further described in detail below with reference to the drawings and embodiments.

Fig. 1 is a schematic structural diagram of a multi-industrial manipulator controller based on a double-layer CPG of the present invention.

In the picture:

Rn represents the rhythm generator of the nth industrial robot arm;

Jnm represents the mth flexible joint on the nth industrial robot arm;

Snm represents the force, displacement and torque sensor that measures the deformation of the mth flexible joint on the nth industrial robot arm;

Kn represents the tactile sensor that measures the contact information of the end effector of the nth industrial robot arm;

detailed description

This embodiment is a multi-industrial manipulator controller based on a double-layer CPG.

As shown in FIG. 1 , it is a schematic structural diagram of a multi-industrial manipulator controller based on a double-layer CPG in this embodiment. According to the basis of bionics, the multi-industrial manipulator controller provided in this embodiment is divided into phase coordination layer and motion mode generation; the layer phase coordination layer is composed of rhythm generators corresponding to each industrial manipulator, and each rhythm generator Rn receives from Corresponding to the signal of the tactile sensor Kn of the industrial manipulator, and the information exchange between the rhythm generators Rn, each rhythm generator generates the phase signal corresponding to the industrial manipulator and sends it to the corresponding controller, phase coordination The layer realizes the phase sequence locking of each industrial robot arm; the motion pattern generation layer is composed of the motion pattern generator of each industrial robot arm, and the motion pattern generator of each industrial robot arm is composed of the corresponding controller, the base, and the arm frame connected in turn , the end effector, the flexible joint Jnm, the force, displacement, torque sensor Snm, and the tactile sensor Kn, the motion mode layer performs motion planning and attitude adjustment for each industrial robot arm.

Example 1

In this embodiment, a multi-industrial manipulator controller based on a double-layer CPG is used for heavy object handling operations. In industrial production, some large and heavy objects are difficult to complete the handling operation by relying on a single industrial robot arm, and require the coordination of multiple industrial robot arms to complete the handling. Initially, each industrial robot arm approaches the heavy object according to the initialization setting. When the end effector of one of the multiple industrial manipulators is in contact with the heavy object, the contact signal is transmitted to the rhythm generator corresponding to the manipulator through the tactile sensor of the industrial manipulator contacting the heavy object. The phase coordination layer of the multi-industrial manipulator controller makes a decision based on the signal input from the rhythm generator of the industrial manipulator that is in contact with the heavy object, so that the movement speed of the industrial manipulator that is in contact with the heavy object is slowed down, and the rest of the industrial manipulator that has not yet been in contact with the heavy object The movement speed of the robotic arm is accelerated to make contact with the heavy object as soon as possible. At the same time, the industrial mechanical arm in contact with the heavy object transmits force and other information to the flexible joints of the industrial mechanical arm through the end effector, and the corresponding controller according to the input signal of the rhythm generator of the industrial mechanical arm and the Feedback signal for attitude adjustment. When all the industrial robotic arms involved in the operation are in contact with the heavy objects, the industrial robotic arms will be applied with force to complete the work of grasping the heavy objects. Each industrial robotic arm will carry out the heavy object handling according to the motion plan set by itself. Operation.

Example 2

In this embodiment, a multi-industrial manipulator controller based on a double-layer CPG is used to perform synchronous operation of multi-industrial manipulators. In industrial production, sometimes multiple industrial manipulators need to operate synchronously. The multi-industrial manipulator controller can simultaneously adjust the phase coordination layer and motion mode generation layer of the controlled multiple industrial manipulators to ensure that each industrial manipulator maintains Highly consistent synchronous operations. For the phase coordination layer, at the beginning, the rhythm generators of each industrial robot arm in the phase coordination layer complete phase sequence locking, so that each industrial robot arm keeps moving synchronously. When asynchronous movement occurs, the phase coordination layer will adjust according to the initial phase sequence lock, so that the industrial mechanical arms will maintain synchronous movement again, and the phase coordination layer will send the phase signal generated by the corresponding rhythm generator to the corresponding industrial robot. Robot controller. For the motion mode generation layer, at the beginning, each industrial robot arm moves according to its own motion planning action according to the initialization settings. When the movement of one of the industrial manipulators is not synchronized with the movement of the rest of the industrial manipulators, the position of the industrial manipulator is inconsistent with that of other industrial manipulators, so that the force and position of the flexible joints of the industrial manipulator , The speed is also inconsistent with other industrial manipulators; the force, displacement, and torque sensors of the flexible joints of the industrial manipulator transmit the force, position, and speed signals to the controller of the corresponding industrial manipulator, and the corresponding controller is based on the rhythm of the industrial manipulator. The phase signal input by the generator and the feedback signal of each flexible joint are adjusted to make the motion of each industrial robot arm consistent again.

Example 3

In this embodiment, a multi-industrial manipulator controller based on a double-layer CPG is used to control the sequential operation of multiple industrial manipulators. In industrial production, sometimes multiple industrial robotic arms are required to perform operations in a certain sequence, such as machine assembly and assembly of workpieces. Initially, according to the initialization settings and actual requirements, one or more industrial manipulators of each industrial manipulator perform work. When the industrial manipulator performing the work completes the set operation, the tactile sensor of the end effector of the industrial manipulator The signal is transmitted to the corresponding rhythm generator, and the phase coordination layer of the multi-industrial manipulator makes a decision according to the signal input of the end effector of the industrial manipulator, so that the industrial manipulator that has completed the set operation is reset, and at the same time triggers the next step. A period of time for the industrial robotic arm to work until all operations are completed. During this process, the rhythm generators of each industrial manipulator in the phase coordination layer maintain phase sequence lock, and the controllers, flexible joints, force, displacement, and torque sensors of each industrial manipulator in the motion pattern generation layer complete the control of the industrial manipulator. The motion planning, attitude adjustment, phase coordination layer and motion pattern generation layer jointly ensure that the industrial manipulators are operated and controlled according to the set sequence.

Claims (1)

1. the multiplex's industry mechanical arm controller based on double-deck central pattern generator (cpg), it is characterized in that: mechanical arm controller is made up of phase coordination layer and motor pattern genetic horizon, phase coordination layer realizes locking the phase sequence of each industrial machine mechanical arm, and motor pattern layer carries out trajectory planning and pose adjustment to each industrial machine mechanical arm;

Described phase coordination layer comprises rhythm generator corresponding to each industrial machine mechanical arm, each rhythm generator receives the signal from the touch sensor of corresponding industrial machine mechanical arm, and can information interchange be carried out between each rhythm generator, each rhythm generator produces the phase signal of corresponding industrial machine mechanical arm and is sent to corresponding controller;

Described motor pattern genetic horizon comprises the motor pattern generator of each industrial machine mechanical arm, and the motor pattern generator of each industrial machine mechanical arm is made up of the controller of correspondence, base, the jib connected successively, end effector, flexible joint, touch sensor, power, displacement, torque sensor; The controller of described each industrial machine mechanical arm, receive the feedback signal from the phase signal of corresponding rhythm generator and each flexible joint of industrial machine mechanical arm by power, displacement, torque sensor measurement, each flexible joint is controlled, the trajectory planning of the end effector of each industrial machine mechanical arm, is completed by corresponding controller simultaneously; The end effector of described each industrial machine mechanical arm, path planning according to controller operates, and carries out operation, and activation signal is sent to touch sensor to target, meanwhile, end effector is sent to each flexible joint of industrial machine mechanical arm by contacting the information produced with industrial object; The flexible joint of described each industrial machine mechanical arm, the tension and compression of generation and torsional deformation information feed back to corresponding controller by power, displacement, torque sensor, and the control signal that corresponding controllers sends carries out pose adjustment; The power of described each industrial machine mechanical arm, displacement, torque sensor, for measuring the power of each industrial machine mechanical arm flexible joint, displacement and rate signal, and be sent to corresponding controller, and each flexible joint has one group of power of its correspondence, displacement, torque sensor; The touch sensor of described each industrial machine mechanical arm, for measuring the activation signal of each industrial robotic arm end actuator and target, and is sent to corresponding rhythm generator by activation signal.