CN109720435B - Robot gait debugging method and device - Google Patents
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Abstract
The invention relates to a gait debugging method of a robot, which comprises the steps of determining standard equivalent mass of a rotating support component and a counterweight component equivalent to a preset position point according to kinetic energy of the rotating support component and the counterweight component and gravitational potential energy of the rotating support component and the counterweight component, wherein the robot, the rotating support component and the counterweight component are sequentially connected, the preset position point is one point in the connection position of the robot and the rotating support component, and adjusting corresponding mass parameters of the robot and debugging the gait according to the standard equivalent mass. In addition, still relate to robot gait debugging device. According to the robot gait debugging method and device, the influence of kinetic energy and gravitational potential energy of the rotary supporting component and the counterweight component is equivalent to the influence of a mass point on the robot by using an equivalent thought, so that the adverse effect of the rotary supporting component and the counterweight component on the robot gait debugging is ingeniously reduced, great convenience is brought to the robot gait debugging, and the robot gait debugging efficiency is improved.
Description
Technical Field
The invention relates to the field of robot control, in particular to a method and a device for debugging gait of a robot.
Background
In the gait control design and debugging process of the biped robot, the rotating support rod is often required to be used for limiting the lateral movement and rotation of the robot, so that the movement of the robot in the three-dimensional direction is converted into two-dimensional movement around a rotation center, the debugging of a gait algorithm is facilitated, but when the rotating support rod is utilized, a counter weight is often required to be added on the other side of the rotating support rod to offset the influence of the rotating support rod on the gravitational potential energy of the robot, at the moment, the kinetic energy influence of the rotating support rod and the counter weight on the robot gait debugging is often increased on the contrary, and the inconvenience is brought to the robot gait debugging.
Disclosure of Invention
In view of the above problems, the present invention provides a robot gait debugging method and apparatus, which can reduce the influence of a rotating support rod and a counterweight when performing gait debugging on a robot, and improve the convenience of robot gait debugging.
A robot gait debugging method comprises the following steps:
determining standard equivalent mass equivalent to a preset position point by the rotating support component and the counterweight component according to kinetic energy of the rotating support component and the counterweight component and gravitational potential energy of the rotating support component and the counterweight component, wherein the robot, the rotating support component and the counterweight component are sequentially connected, and the preset position point is one point in the connection position of the robot and the rotating support component;
and adjusting the corresponding quality parameters of the robot and debugging the gait according to the standard equivalent quality.
In one embodiment, the step of determining a standard equivalent mass of the rotary support assembly and the counterweight assembly equivalent to the predetermined position point based on kinetic energy of the rotary support assembly and the counterweight assembly and gravitational potential energy of the rotary support assembly and the counterweight assembly comprises:
determining a first equivalent mass of the rotating support component and the counterweight component equivalent to a preset position point according to kinetic energy of the rotating support component and the counterweight component;
determining a second equivalent mass of the rotating support component and the counterweight component equivalent to a preset position point according to the gravitational potential energy of the rotating support component and the counterweight component;
and adjusting the parameters of the counterweight component corresponding to the counterweight component to enable the first equivalent mass and the second equivalent mass to be equal to obtain the standard equivalent mass corresponding to the preset position point.
In one embodiment, the calculation formula for determining the first equivalent mass of the rotating support assembly and the counterweight assembly equivalent to the preset position point according to the kinetic energy of the rotating support assembly and the counterweight assembly comprises:
wherein,
is the kinetic energy of the preset position point,
kinetic energy of rotating support member and weight member, m1And w is the angular velocity of the rotary support assembly, I is the moment of inertia of the rotary support assembly, L is the distance between the preset position point and the corresponding rotation center, and I is the moment of inertia of the counterweight assembly.
In one embodiment, the calculation formula for determining the second equivalent mass of the rotating support component and the counterweight component equivalent to the preset position point according to the gravitational potential energy of the rotating support component and the counterweight component comprises:
wherein m is2gh is the gravitational potential energy variation of the preset position point,
the variation of gravitational potential energy m of the rotary supporting component and the counterweight component2For the second equivalent mass, g is a gravitational acceleration constant, h is a height variation of the preset position point, L is a distance between the preset position point and a corresponding rotation center of the robot, and mpAnd l is the distance between the gravity center position of the rotating support assembly and the corresponding rotating center.
In one embodiment, the weight assembly parameters include at least one of weight assembly mass, weight assembly shape, and distance between the weight assembly center of gravity position to the corresponding center of rotation.
In addition, a robot gait debugging device is also provided, which comprises:
the standard equivalent mass acquisition unit is used for determining the standard equivalent mass of the rotating support component and the counterweight component equivalent to a preset position point according to the kinetic energy of the rotating support component and the counterweight component and the gravitational potential energy of the rotating support component and the counterweight component, wherein the robot, the rotating support component and the counterweight component are sequentially connected, and the preset position point is one point in the connection position of the robot and the rotating support component;
and the gait debugging unit is used for adjusting the corresponding quality parameters of the robot and carrying out gait debugging according to the standard equivalent quality.
In one embodiment, the standard equivalent mass obtaining unit includes:
the first equivalent subunit is used for determining a first equivalent mass of the rotating support component and the counterweight component equivalent to a preset position point according to the kinetic energy of the rotating support component and the counterweight component;
the second equivalent subunit determines a second equivalent mass equivalent to the preset position point of the rotary support component and the counterweight component according to the gravitational potential energy of the rotary support component and the counterweight component;
and the standard equivalent mass obtaining subunit is used for adjusting the parameters of the counterweight component corresponding to the counterweight component so as to enable the first equivalent mass and the second equivalent mass to be equal to obtain the standard equivalent mass corresponding to the preset position point.
In one embodiment, the calculation formula for determining the first equivalent mass of the rotating support component and the counterweight component equivalent to the preset position point according to the kinetic energy of the rotating support component and the counterweight component in the first equivalent subunit is as follows:
wherein,
is the kinetic energy of the preset position point,
kinetic energy of rotating support member and weight member, m1And w is the angular velocity of the rotary support assembly, I is the moment of inertia of the rotary support assembly, L is the distance between the preset position point and the corresponding rotation center, and I is the moment of inertia of the counterweight assembly.
In one embodiment, the calculation formula for determining the second equivalent mass of the rotating support component and the counterweight component equivalent to the preset position point according to the gravitational potential energy of the rotating support component and the counterweight component in the second equivalent subunit is as follows:
wherein m is2gh is the gravitational potential energy variation of the preset position point,
the variation of gravitational potential energy m of the rotary supporting component and the counterweight component2For the second equivalent mass, g is a gravitational acceleration constant, h is a height variation of the preset position point, L is a distance between the preset position point and the rotation center, and mpAnd l is the distance between the gravity center position of the rotating support assembly and the corresponding rotating center point.
In one embodiment, the weight assembly parameters include at least one of weight assembly mass, weight assembly shape, and distance between the weight assembly center of gravity position to the corresponding center of rotation.
According to the robot gait debugging method and device, the standard equivalent mass of the rotating support component and the counterweight component equivalent to the preset position point is determined according to the kinetic energy of the rotating support component and the counterweight component and the gravitational potential energy of the rotating support component and the counterweight component, the preset position point is one point in the joint of the robot and the rotating support component, the corresponding mass parameter of the robot is adjusted according to the standard equivalent mass, the gait debugging is carried out, the influence of the kinetic energy and the gravitational potential energy of the rotating support component and the counterweight component is equivalent to the influence of one mass point on the robot by utilizing the equivalent thought, the adverse effect of the rotating support component and the counterweight component on the robot gait debugging is ingeniously reduced, great convenience is brought to the robot gait debugging, and the robot gait debugging efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a diagram of an exemplary embodiment of a robot gait commissioning method;
FIG. 2 is a schematic flow chart illustrating a method for gait adjustment of a robot according to an embodiment;
FIG. 3 is a flow diagram of a method for determining a normalized equivalent mass in one embodiment;
fig. 4 is a block diagram of a gait adjustment device of a robot in another embodiment;
fig. 5 is a block diagram of a standard equivalent mass acquisition unit in one embodiment.
Detailed Description
Various embodiments of the present disclosure will be described more fully hereinafter. The present disclosure is capable of various embodiments and of modifications and variations therein. However, it should be understood that: there is no intention to limit the various embodiments of the disclosure to the specific embodiments disclosed herein, but rather, the disclosure is to cover all modifications, equivalents, and/or alternatives falling within the spirit and scope of the various embodiments of the disclosure.
Hereinafter, the term "includes" or "may include" used in various embodiments of the present disclosure indicates the presence of the disclosed functions, operations, or elements, and does not limit the addition of one or more functions, operations, or elements. Furthermore, as used in various embodiments of the present disclosure, the terms "comprising," "having," and their derivatives, are intended to be only representative of the particular features, integers, steps, operations, elements, components, or combinations of the foregoing, and should not be construed as first excluding the existence of, or adding to one or more other features, integers, steps, operations, elements, components, or combinations of the foregoing.
In various embodiments of the disclosure, the expression "or" at least one of a or/and B "includes any or all combinations of the words listed simultaneously. For example, the expression "a or B" or "at least one of a or/and B" may include a, may include B, or may include both a and B.
Expressions (such as "first", "second", and the like) used in various embodiments of the present disclosure may modify various constituent elements in the various embodiments, but may not limit the respective constituent elements. For example, the above description does not limit the order and/or importance of the elements described. The foregoing description is for the purpose of distinguishing one element from another. For example, the first user device and the second user device indicate different user devices, although both are user devices. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of various embodiments of the present disclosure.
It should be noted that: if it is described that one constituent element is "connected" to another constituent element, the first constituent element may be directly connected to the second constituent element, and a third constituent element may be "connected" between the first constituent element and the second constituent element. In contrast, when one constituent element is "directly connected" to another constituent element, it is understood that there is no third constituent element between the first constituent element and the second constituent element.
The term "user" used in various embodiments of the present disclosure may indicate a person using an electronic device or a device using an electronic device (e.g., an artificial intelligence electronic device).
The terminology used in the various embodiments of the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the various embodiments of the present disclosure. As used herein, the singular forms are intended to include the plural forms as well, unless the context clearly indicates otherwise. Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of the present disclosure belong. The terms (such as those defined in commonly used dictionaries) should be interpreted as having a meaning that is consistent with their contextual meaning in the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined in various embodiments of the present disclosure.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments.
Fig. 1 is a diagram illustrating an application environment of a gait adjustment method of a robot according to an embodiment, including a robot 110, a rotation support assembly 120, and a weight assembly 130. Wherein, the robot 110 is generally a biped robot, the rotation support component 120 is connected with the robot 110, the rotation support component 120 is connected to the robot 110 on the outer side surface, the weight component 130 is disposed on the rotation support component 120, including but not limited to being disposed in a suspension manner, and the mass of the mating component 130 can be dynamically adjusted according to actual needs.
In one embodiment, the rotational support assembly 120 is generally configured as a rotational support bar with the center of rotation O located on the rotational support bar.
Wherein, the robot 110 is located at one side of the rotation center O, the counterweight component 130 is located at the other side of the rotation center O, and the robot 110 rotates around the rotation center O through the rotation support component 120 when performing gait debugging, thereby implementing gait debugging, for convenience, hereinafter, the unified variable identifier includes: the mass of the rotation support assembly 120 is denoted by M, the length of the rotation support assembly 120 is L, the distance from the center of gravity G1 of the rotation support assembly 120 to the rotation center O is L, the distance from the center of gravity G2 of the weight assembly 130 to the rotation center is p, and the mass of the weight assembly 130 is denoted by MpAnd (4) showing.
Fig. 2 is a schematic flowchart of a gait adjustment method of a robot in an embodiment, which includes the following steps:
step S210, determining standard equivalent mass of the rotating support component and the counterweight component equivalent to a preset position point according to kinetic energy of the rotating support component and the counterweight component and gravitational potential energy of the rotating support component and the counterweight component, wherein the preset position point is one point in the connection part of the robot and the rotating support component.
When the existing robot model parameters are used for gait debugging of the robot, due to the influence of the kinetic energy and the gravitational potential energy of the rotation of the rotating support component and the counterweight component during debugging, the original robot model parameters are often required to be manually debugged and modified, and inconvenience is brought.
The equivalent idea is utilized, a point is selected at the joint of the robot and the rotating support component to serve as a preset position point, so that the preset position point can be regarded as a mass point on the robot, further, the sum of kinetic energy and gravitational potential energy of the preset position point can be inevitably made to be the same as the sum of kinetic energy and gravitational potential energy of the rotating support component and the counterweight component through reasonably presetting the counterweight component, and at the moment, the influence on the kinetic energy and the gravitational potential energy of the robot when the rotating support component and the counterweight component rotate is equivalent to the influence on the kinetic energy and the gravitational potential energy of one preset position point of the robot.
Through reasonable presetting the counter weight subassembly, further try to get the kinetic energy of rotatory supporting component and counter weight subassembly respectively to and rotatory supporting component and counter weight subassembly's gravitational potential energy, can try to get the standard equivalent mass of this preset position point at last.
In one embodiment, the rotational support assembly is generally configured as a rotational support rod.
In one embodiment, the weight assembly is generally cylindrical, square, or other symmetrical shape.
And S220, adjusting the corresponding quality parameters of the robot and debugging the gait according to the standard equivalent quality.
After the standard equivalent mass of the preset position point is obtained by utilizing the equivalent idea, the mass parameters of the robot model can be correspondingly modified in the robot gait debugging model when the actual robot gait is debugged.
In one embodiment, the mass parameters of the robot model include mass, center of gravity position and rotational inertia, for the equivalent robot mass, the mass can be adjusted based on the original mass of the robot according to the standard equivalent mass, for the center of gravity position of the robot, the mass can be recalculated according to the original mass of the robot, the original center of gravity position, the added standard equivalent mass and the position of the preset position point, and for the rotational inertia, the mass needs to be recalculated.
In one embodiment, the rotation support rod is usually connected to the trunk position of the robot, the mass parameters of the robot model include the trunk mass, the trunk center-of-gravity position and the trunk moment of inertia, the standard equivalent mass can be directly added to the trunk mass to serve as a modified corresponding trunk mass value, and the trunk center-of-gravity position and the trunk moment of inertia can be recalculated according to the standard equivalent mass, the trunk mass and the trunk center-of-gravity position.
According to the gait debugging method of the robot, the influence of kinetic energy and gravitational potential energy of the rotating support component and the counterweight component is equivalent to the influence of a mass point on the robot by utilizing an equivalent thought, a mechanical structure is not required to be added, a gait design method is not required to be modified, the adverse effect of the rotating support component and the counterweight component on the gait debugging of the robot is skillfully reduced to the minimum, the corresponding quality parameters are only required to be simply modified when the gait of the robot is debugged, modeling is not required to be carried out on the rotating support component, great convenience is brought to the gait debugging of the robot, and the gait debugging efficiency of the robot is improved.
Similarly, the robot gait debugging data obtained by the robot gait debugging method can also be applied to other robots without rotating support components, and only corresponding quality parameters need to be correspondingly modified on a robot model.
In one embodiment, as shown in fig. 3, step S210 includes:
step S212, determining a first equivalent mass of the rotation supporting component and the counterweight component equivalent to a preset position point according to the kinetic energy of the rotation supporting component and the counterweight component.
During the process of equivalence, the kinetic energy of the rotating support component and the kinetic energy of the counterweight component need to be considered respectively, after the preset position point is selected, the kinetic energy of the rotating support component and the kinetic energy of the counterweight component are the same as the kinetic energy of the preset position point, at the moment, the counterweight parameters are selected to be adjusted, and the first equivalent mass of the rotating support component and the counterweight component equivalent to the preset position point is calculated and determined.
Step S214, determining a second equivalent mass of the rotating support component and the counterweight component equivalent to the preset position point according to the gravitational potential energy of the rotating support component and the counterweight component.
In the process of equivalence, the gravitational potential energy of the rotating support component and the gravitational potential energy of the counterweight component need to be considered respectively, after the preset position point is selected, the gravitational potential energy of the rotating support component and the counterweight component is required to be the same as the gravitational potential energy of the preset position point, and at the moment, the second equivalent mass equivalent to the preset position point of the rotating support component and the counterweight component can be calculated and determined by selecting parameters of the counterweight component.
Step S216, adjusting the parameters of the counterweight component corresponding to the counterweight component to make the first equivalent mass equal to the second equivalent mass, so as to obtain the standard equivalent mass corresponding to the preset position point.
In the process of determining the first equivalent mass and the second equivalent mass, a group of mass parameters of the counterweight components can be randomly selected according to empirical values to obtain initial values, then the corresponding first equivalent mass initial values and the second equivalent mass initial values are respectively obtained, the corresponding current counterweight component mass parameter values are further calculated by using a bisection method, then the calculation is repeated by using the counterweight component mass parameter values, and the like until the first equivalent mass and the second equivalent mass are obtained to be equal, and at this time, the obtained first equivalent mass or the obtained second equivalent mass is the standard equivalent mass.
The first equivalent mass and the second equivalent mass are respectively determined, and then the parameters of the counterweight component corresponding to the counterweight component are further solved through the bisection method, so that the standard equivalent mass corresponding to the preset position point can be conveniently solved, and a foundation is laid for the whole equivalent process.
In one embodiment, the calculation formula for determining the first equivalent mass of the rotating support assembly and the counterweight assembly equivalent to the preset position point according to the kinetic energy of the rotating support assembly and the counterweight assembly comprises:
wherein, the left side of the equation (1) is the kinetic energy of the predetermined position point, the right side of the equation (1) is the kinetic energy of the rotation supporting component and the counterweight component, and m1For the first equivalent mass, w is the rotating support groupThe angular velocity of the piece, I is the moment of inertia of the rotary support assembly, L is the distance between the preset position point and the corresponding rotation center, and I is the moment of inertia of the counterweight assembly.
Further, equation (1) above may be simplified to yield equation (2), which yields m as follows1The value formula of (2):
m1＝(I+i)/L2(2)
it can be seen from the above equation (2) that I and L are known quantities, the first equivalent mass is directly and positively correlated with the value of the moment of inertia I of the counterweight assembly, and the value of the further moment of inertia I is directly and positively correlated with the mass m of the counterweight assemblypAre directly related.
In one embodiment, the calculation formula for determining the second equivalent mass of the rotating support component and the counterweight component equivalent to the preset position point according to the gravitational potential energy of the rotating support component and the counterweight component comprises:
wherein, the left side of the equation (3) is the variation of the gravitational potential energy of the predetermined position point, and the right side of the equation is the variation of the gravitational potential energy of the rotation supporting component and the counterweight component, m2For the second equivalent mass, g is a gravitational acceleration constant, h is a height variation of the preset position point, L is a distance between the preset position point and a corresponding rotation center of the robot, and mpThe mass of the counterweight component is l, the distance between the gravity center position of the rotary support component and the corresponding rotation center is l, and the distance between the counterweight component and the corresponding rotation center is p.
Further, equation (3) above may be simplified to yield equation (4), which yields m as follows2The value formula of (2):
wherein M, L and l are both known amounts, mpAnd p may also be determined based on the weight component parameters.
In one embodiment, the weight assembly parameters include at least one of weight assembly mass, weight assembly shape, and distance between the weight assembly center of gravity position to the corresponding center of rotation.
In one embodiment, the rotary support component is a rotary support rod, the robot is a biped robot, the counterweight component is a cylindrical counterweight (the shape of the counterweight is determined), the rotary support rod is connected with the trunk of the robot, a point in the joint of the robot and the rotary support rod is selected as a preset position point, and a first equivalent mass m of the rotary support component and the counterweight component equivalent to the preset position point is determined according to the kinetic energy of the rotary support component and the kinetic energy of the counterweight component1Comprising calculating a first equivalent mass m using equation (1) or using equation (2)1And then determining a second equivalent mass equivalent to the preset position point of the rotary support component and the counterweight component according to the gravitational potential energy of the rotary support component and the counterweight component, wherein the step of calculating the first equivalent mass m by adopting a formula (3) or a formula (4) comprises the step of calculating the first equivalent mass m by adopting a formula (3)2。
Further, when adjusting the parameter of the counterweight assembly, according to the above equation (2) and the above equation (4), a distance value p between the gravity center position of the counterweight assembly and the corresponding rotation center can be selected and determined, then the value p is fixed, the value m is selected, the moment of inertia i of the counterweight assembly is calculated, and further the mass value m of the counterweight assembly is adjusted by using the dichotomy, so that the first equivalent mass m is adjusted1And a second equivalent mass m2And equality, and finally obtaining the corresponding standard equivalent quality.
Of course, in the case of determining the shape of the counterweight assembly, the mass m of the counterweight assembly may be determined, then the rotational inertia i of the counterweight assembly may be calculated by selecting the value p, and the value p may be further adjusted by using the dichotomy, so that the first equivalent mass m is obtained1And a second equivalent mass m2And equality, and finally, the corresponding standard equivalent quality can be obtained.
And finally, according to the standard equivalent mass, adjusting the corresponding trunk mass parameter of the robot and carrying out gait debugging, wherein the trunk mass parameter comprises the trunk mass, the trunk gravity center position and the trunk rotary inertia, the standard equivalent mass can be directly added on the basis of the trunk mass to serve as a modified corresponding trunk mass value, the trunk gravity center position can be determined again according to the standard equivalent mass, the trunk mass and the trunk gravity center position, and the trunk rotary inertia is calculated again according to a conventional method.
In addition, as shown in fig. 4, there is also provided a robot gait adjustment device including:
and a standard equivalent mass obtaining unit 310, configured to determine, according to kinetic energies of the rotation support component and the counterweight component and gravitational potential energies of the rotation support component and the counterweight component, a standard equivalent mass of the rotation support component and the counterweight component equivalent to a preset position point, where the robot, the rotation support component, and the counterweight component are connected in sequence, and the preset position point is one point in a connection between the robot and the rotation support component.
And the gait debugging unit 320 is used for adjusting the corresponding quality parameters of the robot and carrying out gait debugging according to the standard equivalent quality.
In one embodiment, as shown in fig. 5, the standard equivalent mass obtaining unit 310 includes:
the first equivalent subunit 312 is configured to determine a first equivalent mass of the rotation support component and the counterweight component equivalent to the predetermined position point according to the kinetic energy of the rotation support component and the counterweight component.
The second equivalent subunit 314 determines a second equivalent mass of the rotation support component and the counterweight component equivalent to the preset position point according to the gravitational potential energy of the rotation support component and the counterweight component.
The standard equivalent mass obtaining subunit 316 is configured to adjust a parameter of the counterweight assembly corresponding to the counterweight assembly, so that the first equivalent mass and the second equivalent mass are equal to obtain a standard equivalent mass corresponding to the preset position point.
In one embodiment, the calculation formula for determining the first equivalent mass of the rotating support component and the counterweight component equivalent to the preset position point according to the kinetic energy of the rotating support component and the counterweight component in the first equivalent subunit 312 is as follows:
wherein, the left side of the equation (5) is the kinetic energy of the predetermined position point, the right side of the equation (5) is the kinetic energy of the rotation supporting member and the weight member, and m1And w is the angular velocity of the rotary support assembly, I is the moment of inertia of the rotary support assembly, L is the distance between the preset position point and the corresponding rotation center, and I is the moment of inertia of the counterweight assembly.
In one embodiment, the calculation formula for determining the second equivalent mass of the rotating support component and the counterweight component equivalent to the preset position point according to the gravitational potential energy of the rotating support component and the counterweight component in the second equivalent subunit 314 is as follows:
wherein, the left side of the equation (6) is the variation of the gravitational potential energy of the predetermined position point, the right side of the equation (6) is the variation of the gravitational potential energy of the rotation supporting component and the counterweight component, and m2For the second equivalent mass, g is a gravitational acceleration constant, h is a height variation of the preset position point, L is a distance between the preset position point and the rotation center, and mpThe mass of the counterweight component is l, the distance between the gravity center position of the rotary support component and the corresponding rotation center point is l, and the distance between the counterweight component and the corresponding rotation center point is p.
In one embodiment, the weight assembly parameters include at least one of weight assembly mass, weight assembly shape, and distance between the weight assembly center of gravity position to the corresponding center of rotation.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention.
Claims (10)
1. A method of robot gait commissioning, the method comprising:
determining standard equivalent mass equivalent to a preset position point by the rotating support component and the counterweight component according to kinetic energy of the rotating support component and the counterweight component and gravitational potential energy of the rotating support component and the counterweight component, wherein the robot, the rotating support component and the counterweight component are sequentially connected, and the preset position point is one point in the connection position of the robot and the rotating support component;
and adjusting the corresponding quality parameters of the robot and debugging the gait according to the standard equivalent quality.
2. The method of claim 1, wherein the step of determining a standard equivalent mass of the rotating support assembly and the counterweight assembly equivalent to a predetermined position point based on kinetic energy of the rotating support assembly and the counterweight assembly and gravitational potential energy of the rotating support assembly and the counterweight assembly comprises:
determining a first equivalent mass of the rotating support component and the counterweight component equivalent to a preset position point according to kinetic energy of the rotating support component and the counterweight component;
determining a second equivalent mass of the rotary support component and the counterweight component equivalent to the preset position point according to the gravitational potential energy of the rotary support component and the counterweight component;
and adjusting the parameters of the counterweight component corresponding to the counterweight component to enable the first equivalent mass and the second equivalent mass to be equal to obtain the standard equivalent mass corresponding to the preset position point.
3. The method of claim 2, wherein the calculating formula for determining the first equivalent mass of the rotating support assembly and the counterweight assembly equivalent to the predetermined position point based on the kinetic energy of the rotating support assembly and the counterweight assembly comprises:
wherein,
is the kinetic energy of the preset position point,
kinetic energy of rotating support member and weight member, m1The mass is a first equivalent mass, w is the angular velocity of the rotary support assembly, I is the moment of inertia of the rotary support assembly, L is the distance between the preset position point and the corresponding rotation center of the robot, and I is the moment of inertia of the counterweight assembly.
4. The method of claim 2, wherein determining a calculation formula for a second equivalent mass of the rotating support assembly and the counterweight assembly equivalent to the predetermined location point based on the gravitational potential energy of the rotating support assembly and the counterweight assembly comprises:
wherein m is2gh is the gravitational potential energy variation of the preset position point,
the variation of gravitational potential energy m of the rotary supporting component and the counterweight component2For a second equivalent mass, g is a gravitational acceleration constant, h is the amount of height change of the preset position point, M is the mass of the rotary supporting component, p is the distance between the gravity center position of the counterweight component and the corresponding rotation center of the robot, L is the distance between the preset position point and the corresponding rotation center of the robot, and M is the distance between the preset position point and the corresponding rotation center of the robotpAnd l is the distance between the gravity center position of the rotating support component and the corresponding rotating center of the robot.
5. The method of claim 2, wherein the weight assembly parameters include at least one of weight assembly mass, weight assembly shape, and distance between weight assembly center of gravity position to corresponding center of rotation.
6. A robotic gait commissioning device, characterized in that the device comprises:
the standard equivalent mass acquisition unit is used for determining the standard equivalent mass equivalent to a preset position point by the rotating support component and the counterweight component according to the kinetic energy of the rotating support component and the counterweight component and the gravitational potential energy of the rotating support component and the counterweight component, wherein the robot, the rotating support component and the counterweight component are sequentially connected, and the preset position point is one point in the connection position of the robot and the rotating support component;
and the gait debugging unit is used for adjusting the corresponding quality parameters of the robot and carrying out gait debugging according to the standard equivalent quality.
7. The apparatus of claim 6, wherein the standard equivalent mass obtaining unit comprises:
the first equivalent subunit is used for determining a first equivalent mass equivalent to a preset position point by the rotating support component and the counterweight component according to kinetic energy of the rotating support component and the counterweight component;
the second equivalent subunit determines a second equivalent mass of the rotary support component and the counterweight component equivalent to the preset position point according to the gravitational potential energy of the rotary support component and the counterweight component;
and the standard equivalent mass obtaining subunit is configured to adjust a parameter of the counterweight assembly corresponding to the counterweight assembly, so that the first equivalent mass and the second equivalent mass are equal to obtain a standard equivalent mass corresponding to the preset position point.
8. The apparatus of claim 7, wherein the first equivalent subunit determines a first equivalent mass of the rotating support component and the counterweight component equivalent to the predetermined position point according to the kinetic energy of the rotating support component and the counterweight component by the calculation formula:
wherein,
is the kinetic energy of the preset position point,
kinetic energy of rotating support member and weight member, m1The mass is a first equivalent mass, w is the angular velocity of the rotary support assembly, I is the moment of inertia of the rotary support assembly, L is the distance between the preset position point and the corresponding rotation center of the robot, and I is the moment of inertia of the counterweight assembly.
9. The apparatus according to claim 7, wherein the calculation formula for determining the second equivalent mass of the rotary support component and the counterweight component equivalent to the preset position point according to the gravitational potential energy of the rotary support component and the counterweight component in the second equivalent subunit is as follows:
wherein m is2gh is the gravitational potential energy variation of the preset position point,
the variation of gravitational potential energy m of the rotary supporting component and the counterweight component2Is the second equivalent mass, g is the gravitational acceleration constant, h isThe height variation of the preset position point is described, M is the mass of the rotary supporting component, p is the distance between the gravity center position of the counterweight component and the corresponding rotation center of the robot, L is the distance between the preset position point and the corresponding rotation center of the robot, and M is the distance between the preset position point and the corresponding rotation center of the robotpAnd l is the distance between the gravity center position of the rotating support component and the corresponding rotating center of the robot.
10. The apparatus of claim 7, wherein the weight assembly parameters include at least one of weight assembly mass, weight assembly shape, and distance between weight assembly center of gravity position to the corresponding center of rotation of the robot.
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