CN109333530B - Six-joint mechanical arm contact force control method based on series elastic actuator - Google Patents
Six-joint mechanical arm contact force control method based on series elastic actuator Download PDFInfo
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Abstract
本发明属于工业机器人控制领域，具体提供了一种基于串联弹性执行器的六关节机械臂接触力控制方法，旨在解决机械臂与环境的接触过程中，机械臂与环境之间接触力的柔顺控制问题。在设计的柔顺机构‑串联弹性执行的基础上，首先，设定期望的接触力；其次，通过自复位线性位移传感器间接采集接触过程中的实际接触力；然后，将期望的接触力与实际的接触力做比较后，经过PD力控制器得出位移偏差量；最后，结合读取的电机实际位置，以及重力的前馈补偿，控制电机下一步到达的位置，使得弹簧压缩量保持恒定值，进而实现恒力控制。本方法无需使用昂贵的力传感器即可实现对机械臂末端接触力的控制，使得运用工业机器人进行加工工件时，变得更为简单、方便，同时力控制精度更高，大大降低企业的生产成本。
The invention belongs to the field of industrial robot control, and specifically provides a contact force control method for a six-joint mechanical arm based on a series elastic actuator, which aims to solve the problem of the compliance of the contact force between the mechanical arm and the environment during the contact process between the mechanical arm and the environment. control issues. On the basis of the designed compliant mechanism-series elastic execution, first, set the expected contact force; secondly, collect the actual contact force during the contact process indirectly through the self-resetting linear displacement sensor; then, compare the expected contact force with the actual contact force After the contact force is compared, the displacement deviation is obtained through the PD force controller; finally, combined with the read actual position of the motor and the feedforward compensation of gravity, the position that the motor will reach in the next step is controlled, so that the spring compression amount remains constant, In order to achieve constant force control. The method can realize the control of the contact force of the end of the mechanical arm without using an expensive force sensor, which makes it simpler and more convenient to use an industrial robot to process workpieces, and at the same time, the force control accuracy is higher, and the production cost of the enterprise is greatly reduced. .
Description
Technical Field
The invention relates to a mechanical arm contact force control method.
Background
Although industrial robots are increasingly widely used, in some situations where the robot and the environment are required to be in contact with each other, for example, contact force control of polishing and grinding of the industrial robot, the control of the contact force cannot be realized by only relying on a single position control. And, with the higher and higher requirements of people, the requirements on finish machining control are also correspondingly improved.
In recent years, with the continuous development of the robot compliance control technology, the compliance control is applied to a robot control system, so that the robot takes a big step towards the intelligent direction. Currently, compliance control is divided into active compliance and passive compliance. The robot can generate natural compliance to external acting force when contacting with the environment by virtue of auxiliary compliance mechanisms, and the mechanism is called passive compliance; the feedback information of the robot utilization force adopts a certain control strategy to omit the active control action force, which is called active compliance. The contact force between the mechanical arm and the environment is too large, the environment is damaged, the contact force is too small and cannot meet the requirement, and a control strategy with higher precision is needed for some machined workpieces with high precision requirements. Therefore, the compliance control is applied to the mechanical arm to realize the constant force control of the contact force. However, in many papers, only the spring force is taken into consideration as the output contact force, and the influence of gravity on the spring is ignored, so i propose a gravity compensation method of a series elastic actuator to improve the force control accuracy.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, adopts the series elastic actuator with the compliance effect, provides a six-joint mechanical arm contact force control method based on the series elastic actuator, and simultaneously compensates the gravity of the series elastic actuator under different postures in real time to improve the contact force control precision, so that the problem of control over the contact force between the mechanical arm and the environment or a workpiece in the industrial machining process is solved, and the constant force control over the contact between the mechanical arm and the environment is realized.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a contact force control method of a six-joint mechanical arm based on a series elastic actuator comprises the following steps:
step 1: setting a desired contact force Fd；
Step 2: obtaining the actual contact force F during contacts；
Step 3: series elastic actuator open loop transfer function of
By simplifying the velocity loop, kvp＝Jmωsc，kvi＝BmωscThe electromechanical integration of the single-shaft servo is simplified into a model
The closed loop transfer function model of the simplified system is
Wherein, JmIs the rotational inertia of the motor, BmIs the damping coefficient, k, of the motorsIs the elastic coefficient of spring, s is complex variable operator of Laplace transform, N is the conversion coefficient of motor rotation motion to linear displacement, kppIs the proportionality coefficient of the position loop, ωscIs the cut-off frequency, k, of the velocity loopvpIs a proportional parameter of the velocity loop, kviAs an integral parameter of the velocity loop, kpIs the proportionality coefficient of the force controller, kdIs the differential coefficient of the force controller;
step4, determining the gravity mg of the series elastic actuator, and simultaneously calculating cosine values cos α of an included angle α between the gravity and the contact force direction under different postures, wherein the expression of cos α is
step 5: designing PD force controller with transfer function expression of C(s) ═ kp+kds；
Step 6: the expected contact force F in Step1dAnd the actual contact force F in Step2sAfter the comparison, the result is output to the PD force controller in Step5, and the displacement increment Yout is obtained as (k)p+kds)(Fd-Fs)；
Step 7: acquiring a current actual position p of the motor;
step 8: the displacement increment Yout in the Step6, the actual position p of the motor in the Step7 and the compensation quantity of the estimated gravity are compared
Is added as an output signal
Output signal mu1And (4) the motor is fed, so that the next arriving position of the motor is controlled, the compression amount of the spring is kept at a constant value, and the constant-force contact is realized.
Wherein, the relation of contact force and spring compression: fs＝ksΔ x, wherein Δ x ═ xm-xl，xmFor outputting linear displacement, x, to the motor sidelFor load end displacement, Δ x is the amount of spring compression.
The relationship D ═ k between the digital signal of the displacement sensor and the spring compression Δ x2Δx+b1. Wherein k is2Coefficient relation between digital signal and spring compression, b1And the digital signal value of the displacement sensor is corresponding to the initial compression amount of the spring.
It follows that the relationship between the contact force and the digital signal of the displacement sensor is
Fs＝ks(D-b1)/k2
Preferably, in the above-described aspect, the series elastic actuator in step1 includes: the guide rod penetrates through the sliding support through a through hole, two groups of springs penetrate through the front and the back of the sliding support respectively, and the springs are fixed by the guide rod fixing support; the fixed support is used for further fixing the series elastic actuator on the mechanical arm; the flange is fixed at the foremost end of the guide rod.
The invention has the beneficial effects that: compared with a single position control mode, the flexible performance of the tail end of the mechanical arm can be obviously improved, and the control on the contact force is realized; compared with an active flexible control mode, the force acquisition can be realized by detecting the compression amount of the spring by adopting the linear displacement sensor without using an expensive high-precision force sensor, so that the cost is greatly reduced. The control precision of the contact force is improved by estimating and compensating the gravity.
Drawings
FIG. 1 is a perspective view of a tandem elastic actuator used in the method of the present invention.
FIG. 2 is a schematic diagram of a force control based on a series elastic actuator employed in the method of the present invention.
Fig. 3 is a graph showing the results of a simulation experiment according to the present invention.
Fig. 4a to 4b are graphs showing experimental results of the present invention, in which fig. 4a shows a change in contact force without gravity compensation and fig. 4b shows a change in contact force with compensation.
Detailed Description
The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
As shown in fig. 1, a contact force control method for a six-joint robot arm based on a series elastic actuator according to the present invention employs a series elastic actuator structure including: the device comprises a sliding support 1, a guide rod 2, a spring 3, a guide rod fixing support 4, a fixing support 5 and a flange 6.
The sliding support 1 is fixed below a sliding block of a ball screw shaft (mainly composed of linear modules) of the serial elastic actuator, and the guide rod 2 is inserted in the sliding support 1 through a through hole; two groups of springs 3 penetrate through the front and the back of the sliding support 1 respectively and are fixed by guide rod fixing supports 4 respectively; the fixed support 5 is U-shaped and is fixed at the tail end of the mechanical arm through a hexagon nut to further fix the series elastic actuator; the flange 6 is in the shape of an oblate cylinder and is fixed at the foremost end of the guide rod, and a threaded hole is formed in the flange and used for installing a TCP contact guide rod.
As shown in fig. 2, the invention is a six-joint mechanical arm contact force control method based on a series elastic actuator, the six-joint mechanical arm adopts stanobil TX90, the series elastic actuator is installed at the tail end of the six-joint mechanical arm, and the principle of the series elastic actuator is as follows: a KS1-15 spring self-resetting linear displacement sensor is adopted for detection, the working range is 15mm, and the standard resistance is 5K. When the spring generates different deformations, the spring reflects different digital signals D (the range of the digital signals is 0-4096). The real-time detection is carried out by using a 12-bit precision ADC of an I/O module bandConverting detected digital signal D of displacement sensor into actual contact force FsThen contact with the set expected contact force FdAfter comparison, the result is output to the PD controller. Obtaining the position increment Yout through the PD controller, and then compensating the position increment with the read real-time position p of the motor and the gravity
Added as an output signal mu1And the output is transmitted to a motor to realize the feedforward compensation control of gravity, so that the position reached by the motor in the next step is controlled, the compression amount of the spring is kept at a constant value, and the constant force control is realized. Wherein, Table 1 shows the contact force FsAnd the digital signal D.
TABLE 1
| Digital signal D | Fs(N) |
| 300 | 0 |
| 410 | 0.407 |
| 670 | 1.37 |
| 940 | 2.37 |
| 1210 | 3.37 |
| 1470 | 4.34 |
| 2000 | 6.30 |
| 2540 | 8.30 |
| 3010 | 10.10 |
| 3680 | 12.5 |
The method comprises the following specific implementation steps:
step 1: setting a desired contact force Fd；
Step 2: according to the contact force F measured experimentallysAnd spring deformation Δ x ═ xm-xlThe relationship between the contact force and the digital signal D of the displacement sensor is obtained according to the relationship between the spring deformation delta x and the digital signal D of the displacement sensor; according to the relation, the digital signal D of the self-resetting linear displacement sensor collected by the ADC with the resolution of 12 bits is converted into the actual contact force F in the contact processs＝ks(D-b1)/k2Wherein k is2Coefficient relation between digital signal and spring compression, b1And the digital signal value of the displacement sensor is corresponding to the initial compression amount of the spring.
Step 3: series elastic actuator open loop transfer function of
By simplifying the velocity loop, kvp＝Jmωsc，kvi＝BmωscThe electromechanical integration of the single-shaft servo is simplified into a model
SimplificationThe closed loop transfer function model of the rear system is
Wherein, JmIs the rotational inertia of the motor, BmIs the damping coefficient, k, of the motorsIs the elastic coefficient of spring, s is complex variable operator of Laplace transform, N is the conversion coefficient of motor rotation motion to linear displacement, kppIs the proportionality coefficient of the position loop, ωscIs the cut-off frequency, k, of the velocity loopvpIs a proportional parameter of the velocity loop, kviAs an integral parameter of the velocity loop, kpIs the proportionality coefficient of the force controller, kdIs the differential coefficient of the force controller;
step4, determining the gravity mg of the series elastic actuator, and calculating cosine values cos α of an included angle α between the gravity and the contact force direction under different postures to obtain an estimated gravity compensation quantity
Wherein m is the mass of the series elastic actuator, and g is the gravity acceleration;
step 5: designing PD force controller transfer function as C(s) ═ kp+kds, and determining parameters of the PD force controller;
step 6: the expected contact force F in Step1dAnd the actual contact force F in Step2sAfter the comparison, the result is output to the PD force controller in Step5, and the displacement increment Yout is obtained as (k)p+kds)(Fd-Fs)；
Step 7: acquiring a current actual position p of the motor;
step 8: the displacement increment Yout in the Step6, the actual position p of the motor in the Step7 and the compensation quantity of the estimated gravity are compared
Is added as an output signal
Output signal mu1And (4) the motor is fed, so that the next arriving position of the motor is controlled, the compression amount of the spring is kept at a constant value, and the constant-force contact is realized.
The control results of the contact force were compared by comparing the results of the experiment in Step5 with and without the addition of the gravity compensation amount. The simulation experiment results are shown in fig. 3, and the experiment results are shown in fig. 4a and 4 b.
The actual contact force in Step2 is obtained by converting the acquired digital signal D of the displacement sensor, and the relationship between the contact force and the digital signal D of the displacement sensor is obtained by measuring for many times by utilizing a Mini45 Net six-dimensional force/moment sensor of ATI company.
Wherein, the relation of contact force and spring compression: fs＝ksΔx，ksFor the spring constant, Δ x is the spring compression.
The relation D of the digital signal D of the displacement sensor and the spring compression amount delta x is k2Δx+b1. Wherein k is2＝270，b1＝300。
From this, the relationship between the contact force and the digital signal of the displacement sensor can be obtained
Fs＝ks(D-b1)/k2。
Wherein cosine values cos α of included angles between gravity and contact force directions in Step4 are obtained from all joint angles of the mechanical arm under different postures, and the expression is
Wherein q is2，q3，q4，q5，q6The angle of the 2 nd to 6 th joint angles of the mechanical arm is β, the initial angle of the sixth joint of the mechanical arm is β -59.65.
In Step s 7, the actual position p of the motor is directly read by the MC _ ReadActualPosition function block in the CoDeSys software.
The invention has the advantages that: the control of the compliance force of the mechanical arm is realized by adopting the series elastic actuator, meanwhile, the control precision of the force is improved by compensating the gravity of the actuator, the requirement of the industry on finish machining is met, and the safety and low impedance of the operation of the mechanical arm are improved by adopting the series elastic actuator. The cost is greatly reduced by using a common linear displacement sensor to replace an expensive force sensor.
The embodiments described in this specification are merely illustrative of implementations of the inventive concept and the scope of the present invention should not be considered limited to the specific forms set forth in the embodiments but rather by the equivalents thereof as may occur to those skilled in the art upon consideration of the present inventive concept.
Claims (4)
1. A six-joint mechanical arm contact force control method based on a series elastic actuator comprises the following steps:
step 1: setting a desired contact force Fd；
Step 2: obtaining the actual contact force F during contacts；
Step 3: series elastic actuator open loop transfer function of
By simplifying the velocity loop, kvp＝Jmωsc，kvi＝BmωscThe electromechanical integration of the single-shaft servo is simplified into a model
The closed loop transfer function model of the simplified system is
Wherein, JmIs the rotational inertia of the motor, BmIs the damping coefficient, k, of the motorsIs the elastic coefficient of the spring, N is the conversion coefficient of the rotary motion of the motor into linear displacement, kppIs the proportionality coefficient of the position loop, ωscIs a section of a velocity ringStop frequency, kvpIs a proportional parameter of the velocity loop, kviAs an integral parameter of the velocity loop, kpIs the proportionality coefficient of the force controller, kdIs the differential coefficient of the force controller;
step4, determining the gravity mg of the series elastic actuator, and calculating cosine values cos α of an included angle α between the gravity and the contact force direction under different postures to obtain an estimated gravity compensation quantity
Wherein m is the mass of the series elastic actuator, and g is the gravity acceleration;
step 5: designing PD force controller with transfer function of C(s) ═ kp+kds；
Step 6: the expected contact force F in Step1dAnd the actual contact force F in Step2sAfter the comparison, the result is output to the PD force controller in Step5, and the displacement increment Yout is obtained as (k)p+kds)(Fd-Fs) S is a Laplace transform complex variable operator;
step 7: acquiring a current actual position p of the motor;
step 8: the displacement increment Yout in the Step7, the actual position p of the motor in the Step8 and the compensation quantity of the estimated gravity are compared
Is added as an output signal
Output signal mu1And (4) the motor is fed, so that the next arriving position of the motor is controlled, the compression amount of the spring is kept at a constant value, and the constant-force contact is realized.
2. The series elastic actuator used in the contact force control method of the six-joint mechanical arm based on the series elastic actuator according to claim 1, wherein: the guide rod fixing device comprises a sliding support (1), a guide rod (2), a spring (3), a guide rod fixing support (4), a fixing support (5) and a flange plate (6), wherein the guide rod (2) is inserted into the sliding support (1) through a through hole; two groups of springs (3) are respectively penetrated in the front and the back of the sliding support (1); the spring (3) is fixed by a guide rod fixing bracket (4); the fixed support (5) is used for fixing the series elastic actuator; the flange plate (6) is fixed at the foremost end of the guide rod.
3. The six-joint mechanical arm contact force control method based on the series elastic actuator as claimed in claim 1, wherein: actual contact force F in said Step2sObtained by converting collected digital signals D of the displacement sensor, and the expression is Fs＝ks(D-b1)/k2Wherein k is2Coefficient relation between digital signal and spring compression, b1And the digital signal value of the displacement sensor is corresponding to the initial compression amount of the spring.
4. The method of claim 1 wherein the cosine of the angle α between gravity and contact force direction cos α in Step4 is obtained from the joint angles of the robot in different postures q2，q3，q4，q5，q6The angle of the 2 nd to 6 th joint angles of the mechanical arm, β the initial angle of the sixth joint of the mechanical arm, and the cosine value expression is
cosα＝-sin(q2+q3)(cosq4cosq5cos(q6-β)-sinq4sin(q6-β))-cos(q2+q3)sinq5cos(q6-β)。
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| CN114536164A (en) * | 2022-04-26 | 2022-05-27 | 龙口通力汽车零部件制造有限公司 | Flexible grinding device for special-shaped part of automobile |
| CN115319749A (en) * | 2022-08-29 | 2022-11-11 | 南京理工大学 | Axial force control method based on active and passive compliant combination in high-rigidity environment |
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