CN112497209A - Robot control method, storage device, computer equipment and robot - Google Patents
Robot control method, storage device, computer equipment and robot Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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Abstract
The application discloses a robot control method, a storage device, computer equipment and a robot. The control method comprises the following steps: detecting an external force applied to an execution end of the robot to generate an external force signal; acquiring a damping value matched with the external force signal, wherein the damping value is reduced along with the increase of the value of the external force signal; and outputting a position instruction according to the external force signal and the damping value, and executing the position instruction to enable the execution terminal to operate. Through setting up and external force signal assorted damping value and reduce along with the increase of the value of external force signal, the control method of robot that this application provided can make resistance reduce when dragging external force increase, drags the teaching more gentle and agreeable and laborsaving.
Description
Technical Field
The present application relates to the field of robot control technologies, and in particular, to a robot control method, a storage device, a computer device, and a robot.
Background
The drag teaching is a main teaching mode of the existing cooperative robot, and generally requires adjusting the dynamic characteristic between the position of an execution terminal of the robot and an external force to realize flexibility, and the dynamic characteristic has a close relation with the damping value of the robot.
The damping value is small, so that an operator can enable the robot to move flexibly along with the damping value through small acting force; if the damping value is large, an operator can move the robot along with the damping value by a large acting force; and the external force of applying is not the constant force, if set up the damping value to fixed value, then along with the change of external force, can lack the compliance when carrying out the end and follow the demonstration of dragging, and along with the increase of external force, user's teaching is laboured, still can reduce teaching flexibility ratio and degree of accuracy.
Disclosure of Invention
The application mainly provides a control method of a robot, a storage device, computer equipment and the robot, and aims to solve the problem that the robot drags laboriously along with the increase of dragging external force in a dragging teaching mode.
In order to solve the technical problem, the application adopts a technical scheme that: a control method of a robot is provided. The control method comprises the following steps: detecting an external force applied to an execution end of the robot to generate an external force signal; acquiring a damping value matched with the external force signal, wherein the damping value is reduced along with the increase of the value of the external force signal; and outputting a position instruction according to the external force signal and the damping value, and executing the position instruction to enable the execution terminal to operate.
In order to solve the above technical problem, another technical solution adopted by the present application is: a memory device is provided. The apparatus stores program data that can be executed by a processor to implement the method as described above.
In order to solve the above technical problem, another technical solution adopted by the present application is: a computer device is provided. The computer device comprises a processor coupled to a memory for storing program data and a memory for executing the program data to implement the method as described above.
In order to solve the above technical problem, another technical solution adopted by the present application is: a robot is provided. The robot includes an execution terminal and a computer device as described above, the computer device being communicatively coupled to the execution terminal.
The beneficial effect of this application is: in contrast to the state of the art, the present application discloses a robot control method, a storage apparatus, a computer device, and a robot. The external force applied to the execution tail end of the robot is detected, the external force signal is generated, the damping value matched with the external force signal is obtained, the damping value adapts to the change of the external force, for example, the damping value is reduced along with the increase of the value of the external force signal, a position instruction is output according to the external force signal and the matched damping value, the position instruction is executed to enable the execution tail end to operate, and better flexibility and operation efficiency during dragging teaching are guaranteed.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts, wherein:
fig. 1 is a schematic flowchart of an embodiment of a control method for a robot provided in the present application;
FIG. 2 is a schematic diagram illustrating the variation of the damping value with respect to the external force in step S12 of FIG. 1;
FIG. 3 is a schematic flow chart illustrating the output of the position command in step S13 in FIG. 1;
FIG. 4 is a schematic block diagram of an embodiment of a computer device provided herein;
FIG. 5 is a schematic structural diagram of an embodiment of a memory device provided herein;
fig. 6 is a schematic structural diagram of an embodiment of a robot provided in the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms "first", "second" and "third" in the embodiments of the present application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of the feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
Referring to fig. 1, fig. 1 is a schematic flowchart of an embodiment of a robot control method provided in the present application. In this embodiment, the control method of the robot includes:
s11: an external force applied to an execution end of the robot is detected, and an external force signal is generated.
An external force signal recognizable by the robot is generated by detecting an external force applied to an execution terminal of the robot by providing a force sensor at the execution terminal or by using a method of estimating an external force using a current.
For example, drag the teaching to the robot, the execution end of robot is equipped with force sensor, and then force sensor detects the external force that applys when dragging the teaching to the robot and generates the external force signal to the interaction of robot internal signal, and adjust the dynamic characteristic between follow-up execution end and the external force based on the external force signal that generates, make drag the teaching more gentle and agreeable and laborsaving.
For example, when an external force is applied to the execution tail end of the robot, the execution tail end has a tendency of resisting the external force to change the state of the execution tail end instantly, a motor and the like which provide power in the execution tail end can correspondingly increase output power, and then the external force can be estimated and an external force signal can be generated by detecting the current of the motor and the like, so that the interaction of internal signals of the robot is facilitated.
Further, after the external force signal is generated, the external force signal may be filtered to reduce noise of the external force signal and smooth the external force signal, and then the filtered external force signal may be output.
S12: and acquiring a damping value matched with the external force signal, wherein the damping value is reduced along with the increase of the value of the external force signal.
The robot can adjust the dynamic characteristics between the execution tail end and the external force through admittance control, and then the flexibility is realized. The interaction between the robot and the external environment can be described by a mass-spring-damper system whose frequency domain transfer function is denoted x(s) (Ms)2+ Bs + K) ═ f(s), where x(s), f(s) denote displacement, magnitude of external force, respectively, and M, B, K denote inertia, damping, and stiffness, respectively.
When the robot is dragged and taught by adopting admittance control, K is 0, and M is fixed and then is a fixed value without regulation. B represents damping which will affect the following ability of the robot when interacting with the operator. The damping value is small, so that an operator can make the robot move flexibly along with the damping value by a small acting force; if the damping value is large, an operator can move the robot along with the damping value by a large acting force; the applied external force is not constant, if the damping value is set to be a fixed value, the tail end of the execution device is not soft enough when following the dragging teaching along with the change of the external force, and the user can not feel labor-saving along with the increase of the external force.
In this embodiment, after the external force signal is obtained, the damping value matched with the external force signal is obtained, wherein the damping value can be reduced along with the increase of the value of the external force signal, so that the damping value can be adaptively adjusted based on the value of the external force signal, that is, the larger the external force is, the smaller the damping value is, and the dragging teaching and the like of the robot are more flexible and labor-saving.
In this embodiment, the damping value may be linearly decreased with an increase in the value of the external force signal, and accordingly, the damping value is smaller with an increase in the external force applied to the execution end, so that the robot is dragged more smoothly and labor-saving.
Specifically, referring to fig. 2, a first external force value F1, a second external force value F2, a first damping value D1, and a second damping value D2 are preset, the second damping value D2 is smaller than the first damping value D1, and the first external force value F1 is smaller than the second external force value F2.
If the value of the external force signal is less than or equal to the preset first external force value F1, the damping value is the first damping value D1. If the value of the external force signal is greater than or equal to the preset second external force value F2, the damping value is a second damping value D2. If the value of the external force signal is between the first external force value F1 and the second external force value F2 and the value of the external force signal is increased, the damping value is decreased in the interval formed by the first preset damping value and the second preset damping value, in other words, if the value of the external force signal is increased from the first external force value F1 to the second external force value F2, the damping value can be linearly decreased from the first damping value D1 to the second damping value D2.
The preset first external force value F1, the preset second external force value F2, the preset first damping value D1 and the preset second damping value D2 are values obtained through a large-scale experiment on the robot, and the robot can meet the functions of dragging teaching and the like of the robot.
The damping value matched with the external force signal is linearly reduced along with the increase of the value of the external force signal, so that the effects that when the value of the external force applied to the execution tail end is increased, the resistance received by a human is reduced, and the dragging teaching of the robot is more flexible and labor-saving are achieved.
In other embodiments, the damping value may decrease non-linearly with the increase of the value of the external force signal, and the dragging of the robot may be more compliant and labor-saving.
S13: and outputting a position instruction according to the external force signal and the damping value, and executing the position instruction to enable the execution terminal to operate.
And outputting a position instruction according to the detected external force signal and the matched damping value, and executing the position instruction to enable the execution tail end to operate, namely, after external force is applied to the execution tail end, the robot makes action reaction to the execution tail end.
The position instruction can be a spatial position coordinate of a position where the execution terminal is located when no external force is applied, and when the position instruction is executed, the execution terminal moves to a spatial position coordinate point; the position command may also be a set of speed, duration of movement.
For example, the position where the execution terminal is located when no external force is applied is a first position, the position where the execution terminal is located after executing the position command is a second position, the position command includes a spatial position coordinate, the spatial position coordinate is a coordinate of the second position relative to the first position, and the spatial position coordinate is used for indicating that the execution terminal moves from the first position to the second position.
Specifically, referring to fig. 3, the step of outputting the position command according to the external force signal and the damping value in step S13 may be performed as follows.
S131: and calculating the displacement increment of the execution tail end according to the external force signal and the damping value.
The external force signal and the damping value are used as input of an Admittance Control (acceptance Control) model, and the compliance of the Admittance Control model is realized by adjusting the dynamic characteristic between the position of the execution tail end of the robot and the force, so that the displacement increment can be calculated and output through the Admittance Control model.
Specifically, the displacement increment satisfies the following formula: Δ x ═ Δ F/(Ms)2+Bs+K)。
Wherein Δ x is a displacement increment of the execution terminal, Δ F is an external force applied to the execution terminal, M is an inertia of the execution terminal, B is a damping value matched with the external force, K is a stiffness of the execution terminal, and s is a frequency domain operator.
In the process of teaching the robot to drag, the execution terminal of the robot is not deformed, the rigidity of the execution terminal is considered to be 0, that is, K is 0, and certainly, K can be an appropriate value in consideration of the actual situation, K is also a fixed value, and M is also a fixed value generally, so that it can be known that the larger the external force Δ F applied to the execution terminal is, the smaller the damping value B matched with the external force is, and the larger the displacement increment Δ x of the execution terminal is, that is, the larger the motion amplitude of the execution terminal of the robot can be, the higher the ability of the execution terminal to follow the operator is, the resistance received by a human is obviously reduced, and the teaching to drag of the robot is more flexible and labor-saving.
S132: a position command is output based on the displacement increment.
The displacement increment is a vector and has a direction, so that the obtained displacement increment can be decomposed and transformed according to a coordinate axis space, further the spatial position coordinate of the position where the external force is not applied relative to the execution tail end can be obtained, and further a position command is output.
Or, it is known that the external force Δ F is also a vector, and when the displacement increment is calculated, the external force Δ F is decomposed according to the coordinate axis space, so that the displacement increment along each coordinate axis can be obtained, and further, the spatial position coordinate of the position where the external force is not applied relative to the execution terminal is obtained.
Specifically, after the external force signal is calculated, a displacement increment is obtained, the displacement increment is a displacement increment of the execution terminal to be moved from a first position to a second position, the first position is taken as the origin of a cartesian space rectangular coordinate system, the displacement increment is decomposed along each coordinate axis of the cartesian space rectangular coordinate system, so that a spatial position coordinate of the second position relative to the first position in the cartesian space rectangular coordinate system can be obtained, and the execution terminal is moved from the first position to the second position when the position instruction is executed.
When the applied external force is larger, the matched damping value is smaller, the robot follows the dragging teaching of an operator more quickly, the amplitude is larger, the resistance felt by a human is smaller, and the dragging teaching of the robot is more flexible and labor-saving.
Based on this, the present application further provides a computer device 100, please refer to fig. 4, fig. 4 is a schematic structural diagram of an embodiment of the computer device of the present application, in this embodiment, the computer device 100 includes a processor 110 and a memory 120, the processor 110 is coupled to the memory 120, the memory 120 is used for storing a program, and the processor 110 is used for executing the program to implement the robot control method of any of the above embodiments.
The computer device 100 may be a codec. Processor 110 may also be referred to as a CPU (Central Processing Unit). The processor 110 may be an integrated circuit chip having signal processing capabilities. The processor 110 may also be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The general purpose processor 110 may be a microprocessor or the processor may be any conventional processor or the like.
Based on this, the present application further provides a storage device 200, please refer to fig. 5, fig. 5 is a schematic structural diagram of an embodiment of the device with a storage function provided in the present application, in which the storage device 200 stores program data 210, and the program data 210 can be executed by a processor to implement the robot control method according to any of the above embodiments.
The program data 210 may be stored in the storage device 200 in the form of a software product, and includes several instructions to make a device or a processor execute all or part of the steps of the methods according to the embodiments of the present application.
The storage device 200 is a medium in computer memory for storing some discrete physical quantity. The memory device 200 includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, an optical disk, or other various media capable of storing the code of the program data 210.
Based on this, the present application further provides a robot 300, please refer to fig. 6, fig. 6 is a schematic structural diagram of an embodiment of the robot provided in the present application, in this embodiment, the robot 300 includes an execution terminal 310 and the computer device 100 as described above, the computer device 100 is in communication connection with the execution terminal 310, and the execution terminal 310 can execute the position instruction sent by the computer device 100.
The present application discloses a control method of a robot, an apparatus having a storage function, a computer device, and a robot, which are distinguished from the state of the art. The external force applied to the execution tail end of the robot is detected, the external force signal is generated, the damping value matched with the external force signal is obtained, the damping value adapts to the change of the external force, for example, the damping value is reduced along with the increase of the value of the external force signal, a position instruction is output according to the external force signal and the matched damping value, the position instruction is executed to enable the execution tail end to operate, and better flexibility and operation efficiency during dragging teaching are guaranteed.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present application.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings, or which are directly or indirectly applied to other related technical fields, are intended to be included within the scope of the present application.
Claims (10)
1. A control method of a robot, characterized by comprising:
detecting an external force applied to an execution end of the robot, and generating an external force signal;
acquiring a damping value matched with the external force signal, wherein the damping value is reduced along with the increase of the value of the external force signal;
and outputting a position instruction according to the external force signal and the damping value, and executing the position instruction to enable the execution tail end to operate.
2. The control method according to claim 1, characterized in that the damping value decreases linearly with an increase in the value of the external force signal.
3. The control method according to claim 2, wherein the obtaining of the damping value matched to the external force signal includes:
if the value of the external force signal is smaller than or equal to a preset first external force value, the damping value is a first damping value;
if the value of the external force signal is larger than or equal to a preset second external force value, the damping value is a second damping value;
and if the value of the external force signal is between the first external force value and the second external force value and the value of the external force signal is increased, the damping value is reduced in an interval formed by the first preset damping value and the second preset damping value.
The first external force value, the second external force value, the first damping value and the second damping value are preset, the second damping value is smaller than the first damping value, and the first external force value is smaller than the second external force value.
4. The control method according to claim 1, wherein after the generating the external force signal, further comprising:
and carrying out filtering processing on the external force signal.
5. The control method according to claim 1, wherein the outputting a position command according to the external force signal and the damping value includes:
calculating displacement increment of the execution tail end according to the external force signal and the damping value;
outputting the position command based on the displacement increment.
6. The control method of claim 5, wherein the external force signal and the damping value are used as inputs to an admittance control model to calculate the output displacement increment.
7. The control method according to claim 6, wherein the displacement increment satisfies the following formula:
Δx＝ΔF/(Ms2+Bs+K)
wherein Δ x is a displacement increment of the execution terminal, Δ F is an external force applied to the execution terminal, M is an inertia of the execution terminal, B is a damping value matched with the external force, K is a stiffness of the execution terminal, and s is a frequency domain operator.
8. A storage device, characterized in that the device stores program data executable by a processor to implement the method according to any one of claims 1-7.
9. A computer device, characterized in that the computer device comprises a processor coupled to a memory for storing program data and a memory for executing the program data to implement the method according to any of claims 1-7.
10. A robot, characterized in that the robot comprises an execution terminal and a computer device according to claim 9, which computer device is communicatively connected to the execution terminal.
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