WO2024197902A1 - Procédé et appareil de commande de bras mécanique, et dispositif et support de stockage - Google Patents

Procédé et appareil de commande de bras mécanique, et dispositif et support de stockage Download PDF

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Publication number
WO2024197902A1
WO2024197902A1 PCT/CN2023/085710 CN2023085710W WO2024197902A1 WO 2024197902 A1 WO2024197902 A1 WO 2024197902A1 CN 2023085710 W CN2023085710 W CN 2023085710W WO 2024197902 A1 WO2024197902 A1 WO 2024197902A1
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WIPO (PCT)
Prior art keywords
robotic arm
movable object
control
expected
information
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2023/085710
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English (en)
Chinese (zh)
Inventor
王帅
安昭辉
李望维
刘天亮
滕肖
郑宇�
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Tencent Technology Shenzhen Co Ltd
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Tencent Technology Shenzhen Co Ltd
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Filing date
Publication date
Application filed by Tencent Technology Shenzhen Co Ltd filed Critical Tencent Technology Shenzhen Co Ltd
Priority to PCT/CN2023/085710 priority Critical patent/WO2024197902A1/fr
Publication of WO2024197902A1 publication Critical patent/WO2024197902A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Program-controlled manipulators characterised by positioning means for manipulator elements electric

Definitions

  • the present application relates to the field of robots, and in particular to a control method, device, equipment and storage medium for a robotic arm.
  • the robotic arm is a common robot actuator and plays an important role in production and life.
  • the end of a robotic arm is usually used to complete the operation task.
  • an end effector is installed at the end of the robotic arm to complete the corresponding operation, such as installing a robotic finger at the end of the robotic arm to complete the operation by controlling the movement of the robotic arm and the robotic finger.
  • the embodiment of the present application provides a control method, device, equipment and storage medium of a robotic arm, which can make a movable object maintain balance and not fall at any position on the robotic arm except the end.
  • the technical solution is as follows:
  • a control method for a robotic arm wherein a movable object is placed at any position of the robotic arm except the end thereof, and the method comprises:
  • the control information is used to control the movement of the robot arm until the movable object reaches a balanced state on the robot arm.
  • a control device for a robotic arm comprising:
  • An acquisition module used for acquiring a dynamic system constructed at least according to the robotic arm, and obtaining posture information from the dynamic system
  • a determination module used to determine control information of the robotic arm based on the posture information and expected posture information of the dynamic system, wherein the expected posture information is used to indicate posture information that enables the movable object to maintain balance on the robotic arm;
  • the control module is used to control the movement of the robot arm by using the control information until the movable object reaches a balanced state on the robot arm.
  • a robotic arm which includes a memory and a controller; at least one program code is stored in the memory, and the program code is loaded and executed by the controller to implement the above-mentioned control method of the robotic arm.
  • a computer-readable storage medium in which a computer program is stored.
  • the computer program is used to be executed by a processor to implement the control method of the robotic arm as described above.
  • a chip which includes a programmable logic circuit and/or program instructions, and when an electronic device equipped with the chip is running, it is used to implement the control method of the robotic arm as described above.
  • a computer program product which includes computer instructions stored in a computer-readable storage medium.
  • a processor reads and executes the computer instructions from the computer-readable storage medium to implement the control method of the robotic arm as described above.
  • a new method for using a robotic arm which can make a movable object keep balance at any position on the robotic arm except the end without falling, such as preventing a bottle from sliding off the robotic arm through the forearm shell of the robotic arm.
  • the control information of the robotic arm can be determined, thereby realizing the control of the robotic arm.
  • FIG1 is a schematic diagram of a robotic arm provided by an exemplary embodiment of the present application.
  • FIG2 is a schematic diagram of a mechanical arm provided by an exemplary embodiment of the present application.
  • FIG3 is a schematic diagram of a mechanical arm provided by an exemplary embodiment of the present application.
  • FIG4 is a flow chart of a method for controlling a robotic arm provided by an exemplary embodiment of the present application.
  • FIG5 is a schematic diagram of a robot arm performing balancing according to an exemplary embodiment of the present application.
  • FIG6 is a schematic diagram of a robot arm performing balancing according to an exemplary embodiment of the present application.
  • FIG7 is a flow chart of a method for controlling a robotic arm provided by an exemplary embodiment of the present application.
  • FIG8 is a flow chart of a method for controlling a robotic arm provided by an exemplary embodiment of the present application.
  • FIG9 is a flow chart of a method for controlling a robotic arm provided by an exemplary embodiment of the present application.
  • FIG10 is a schematic diagram of a robot arm performing balancing according to an exemplary embodiment of the present application.
  • FIG11 is a schematic diagram of a robot arm performing balancing according to an exemplary embodiment of the present application.
  • FIG12 is a schematic diagram of a robot arm performing balancing according to an exemplary embodiment of the present application.
  • FIG13 is a schematic diagram of an overall control architecture of a robotic arm provided by an exemplary embodiment of the present application.
  • FIG14 is a schematic diagram of a control device for a robotic arm provided by an exemplary embodiment of the present application.
  • FIG. 15 is a structural block diagram of a robotic arm provided by an exemplary embodiment of the present application.
  • the robotic arm is a common robot actuator. With the widespread application of artificial intelligence, the robotic arm plays an important role in production and life and has become an indispensable device.
  • the end of the robotic arm is usually used to complete the operation task; or, the end effector is installed at the end of the robotic arm to complete the corresponding operation, such as installing a robotic finger at the end of the robotic arm to complete the operation by controlling the movement of the robotic arm and the robotic finger.
  • the rigid connectors and/or outer shell of the robotic arm are not considered to complete the operation tasks.
  • the main reasons are: first, the appearance of the robotic arm is generally a curved design and does not have a large plane; second, if there is no grasping mechanism design such as robotic fingers, the contact between the appearance of the robotic arm and external objects will not form a shape closure and force closure, which will make the control of the robotic arm more difficult.
  • FIG. 1 shows a schematic diagram of a robotic arm provided by an exemplary embodiment of the present application.
  • the robot arm is a robot arm with 7 degrees of freedom.
  • the control motors of the elbow and wrist of the robot arm are placed in the hollow of the third joint of the shoulder.
  • the elbow and wrist rope drive is driven by the motor of the shoulder to drive the belt to the pulley, and the pulley controls the corresponding movement of the elbow and wrist through the belt transmission rope.
  • the mechanical arm includes: a first mechanical joint 10, a second mechanical joint 20 and a driving assembly 30.
  • the first mechanical joint 10 includes a first fixed member 101 and a first movable member 102 which are rotatably connected;
  • the second mechanical joint 20 includes a second fixed member 201 and a second movable member 202 which are rotatably connected; and
  • the second fixed member 201 is connected to the first movable member 102.
  • the driving assembly 30 includes at least two driving sources 301 and at least two driving ropes 302 ; each of the at least two driving sources 301 is connected to the first fixed member 101 , the first movable member 102 and the second movable member 202 via at least one driving rope 302 .
  • At least two driving sources 301 include a first working mode and a second working mode
  • At least two driving sources 301 can drive the second movable member 202 to rotate relative to the second fixed member 201, and fix the position of the first movable member 102 relative to the first fixed member 101;
  • At least two driving sources 301 can drive the second movable member 202 , the second fixed member 201 and the first movable member 102 to rotate relative to the first fixed member 101 , and fix the position of the second movable member 202 relative to the second fixed member 201 .
  • the mechanical arm of the present invention comprises a first mechanical joint 10, a second mechanical joint 20 and a driving assembly 30, wherein the driving assembly 30 comprises at least two driving sources 301 and at least two driving ropes 302, wherein each of the at least two driving sources 301 is connected to a first movable member 102 of the first mechanical joint 10, a second movable member 202 of the second mechanical joint 20, and a first fixed member 101 of the first mechanical joint 10 through at least one driving rope 302, and the first working member 102 of the at least two driving sources 301 is connected to a second working member 102 of the first mechanical joint 10, a second working member 202 of the second mechanical joint 20, and a first fixed member 101 of the first mechanical joint 10.
  • the driving assembly 30 comprises at least two driving sources 301 and at least two driving ropes 302, wherein each of the at least two driving sources 301 is connected to a first movable member 102 of the first mechanical joint 10, a second movable member 202 of the second mechanical joint 20, and a first fixed member 101 of the first mechanical joint 10.
  • the second movable member 202 can be driven to rotate relative to the second fixed member 201, and the position of the first movable member 102 relative to the first fixed member 101 is fixed; in the second working mode, the second movable member 202, the second fixed member 201 and the first movable member 102 can be driven to rotate relative to the first fixed member 101, and the position of the second movable member 202 relative to the second fixed member 201 is fixed, thereby realizing the coupled drive of at least two driving sources 301 to multiple joints, improving the utilization rate of the driving source 301, reducing the structural complexity of the mechanical joints, increasing the moment of inertia of the mechanical joints, and enhancing the motion performance of the mechanical joints.
  • the second mechanical joint 20 moves independently (i.e., the second movable part 202 rotates relative to the second fixed part 201, but the position of the first movable part 102 relative to the first fixed part 101 is fixed), and when the first mechanical joint 10 drives the second mechanical joint 20 to move in coupling motion (i.e., the second movable part 202, the second fixed part 201 and the first movable part 102 rotate relative to the first fixed part 101, and the position of the second movable part 202 relative to the second fixed part 201 is fixed), it is driven by at least two driving sources 301 at the same time, that is, no matter which degree of freedom corresponds to the joint movement, it is driven by the power of at least two driving sources 301.
  • a single degree of freedom is driven by a single driving source 301, it can realize the coupled drive of at least two driving sources 301 to a single movable part, and realize at least twice the traction drive, which is beneficial to improve the working performance of the movable part such as the torque and rotation speed.
  • the at least two driving sources 301 include a motor and a driving rope pulley, the motor and the driving rope pulley are connected via a transmission mechanism, and the motor drives the driving rope pulley to rotate via the transmission mechanism.
  • the driving rope 302 is wound around the driving rope pulley.
  • the driving rope 302 can be tightly wound around it, so that the driving rope 302 generates traction on at least one of the first fixed member 101, the first movable member 102 and the second movable member 202.
  • the transmission mechanism includes but is not limited to a belt transmission mechanism, a gear transmission mechanism, a worm gear transmission mechanism, and the like.
  • the transmission mechanism is a belt drive, for example including a driving pulley, a transmission belt and a passive pulley, wherein the driving pulley is connected to the output shaft of the motor, the passive pulley is connected to the driving rope pulley, and the transmission belt is connected between the driving pulley and the passive pulley.
  • the transmission mechanism is a belt drive, for example, further comprising a tensioning mechanism, the tensioning mechanism is close to the transmission belt, and the tensioning mechanism can be used to adjust the tension of the transmission belt.
  • the first operating mode and the second operating mode can be different operating modes formed according to whether the rotation directions of at least two driving sources 301 are different or the same; they can also be different operating modes formed according to whether the rotation speeds of at least two driving sources 301 are different or the same; they can also be different operating modes formed according to whether the rotation directions and rotation speeds of at least two driving sources 301 are different or the same.
  • At least two driving sources 301 rotate in the same direction
  • at least two driving sources 301 rotate in opposite directions.
  • the robotic arm of this embodiment can control the independent movement of the second mechanical joint 20 and the coupled movement of the second mechanical joint 20 driven by the first mechanical joint 10 by controlling the rotation direction of the at least two driving sources 301, and has a simple structure and high coupling control efficiency.
  • At least two driving sources 301 rotate in opposite directions, and in the second working mode, at least two driving sources 301 rotate in the same direction.
  • the rotation speeds and output torques of at least two driving sources 301 are the same.
  • At least two driving sources 301 are located on the side of the first fixed member 101 away from the first movable member 102, and at least two driving ropes 302 pass through the first fixed member 101 to be connected to the first movable member 102, and pass through the second fixed member 201 to be connected to the second movable member 202.
  • At least two driving sources 301 are arranged on the side of the first fixed part 101 away from the first movable part 102, the driving rope 302 passes through the first fixed part 101 and is connected to the first movable part 102, and passes through the second fixed part 201 and is connected to the second movable part 202.
  • the mass of at least two driving sources 301 is concentrated on the side where the first fixed part 101 is located, and the mass of the side where the first movable part 102, the second fixed part 201 and the second movable part 202 are located is relatively small, which is beneficial to increase the moment of inertia of the side structure and improve its operating performance.
  • the first mechanical joint 10 is a mechanical shoulder joint
  • the second mechanical joint 20 is a mechanical elbow joint
  • the first fixed member 101 and the first movable member 102 are rotationally connected along the first axis 001
  • the second fixed member 201 and the second movable member 202 are rotationally connected along the second axis 002.
  • At least two driving sources 301 can drive the second movable part 202 to rotate around the second axis 002 relative to the second fixed part 201, and fix the position of the first movable part 102 relative to the first fixed part 101; in the second working mode, at least two driving sources 301 can drive the second mechanical joint 20 and the first movable part 102 to rotate around the first axis 001 relative to the first fixed part 101, and fix the position of the second movable part 202 relative to the second fixed part 201.
  • the first mechanical joint 10 is a mechanical shoulder joint
  • the second mechanical joint 20 is a mechanical elbow joint.
  • at least two driving sources 301 can drive the second movable part 202 of the mechanical elbow joint to rotate around the second axis 002 relative to the second fixed part 201 of the mechanical elbow joint, and the position of the first movable part 102 of the mechanical shoulder joint is fixed relative to the first fixed part 101 of the mechanical shoulder joint, thereby realizing independent movement of the mechanical elbow joint.
  • At least two driving sources 301 can drive the first movable part 102 of the mechanical shoulder joint to drive the entire mechanical elbow joint (including the second fixed part 201 and the second movable part 202) to rotate around the first axis 001 relative to the first fixed part 101 of the mechanical shoulder joint, but the position of the second movable part 202 of the mechanical elbow joint relative to the second fixed part 201 of the mechanical elbow joint is fixed, thereby realizing the coupled movement of the mechanical elbow joint and the mechanical shoulder joint.
  • the mechanical arm can use a set of driving sources 301, and the controller can drive the mechanical elbow joint and the mechanical shoulder joint respectively by controlling the set of driving sources 301 to operate in different working modes.
  • the degrees of freedom of the mechanical elbow joint and the mechanical shoulder joint can be driven by at least two driving sources 301, achieving at least twice the traction force drive, which is conducive to improving the working performance of the mechanical elbow joint and the mechanical shoulder joint, such as the torque and rotation speed.
  • the robotic arm further includes a mechanical wrist joint, a mechanical shoulder joint connected to a mechanical elbow joint, and a mechanical wrist joint connected to a mechanical elbow joint to form a complete robotic arm.
  • At least two driving sources 301 are located in the second movable member 202 , connected to the second movable member 202 , and move along with the second movable member 202 .
  • the first axis 001 and the second axis 002 intersect vertically.
  • the first mechanical joint 10 (such as a mechanical shoulder joint) can drive the second mechanical joint 20 (such as a mechanical elbow joint) to rotate, simulating the movement of the forearm spinning in the human arm, and the second mechanical joint 20 can rotate in a wide range (such as 0-360°) in space, enriching the action scenes of the mechanical arm and improving the application range of the mechanical arm.
  • the first mechanical joint 10 further includes a third fixing member 103; the first fixing member 101 is rotatably connected to the third fixing member 103.
  • the first mechanical joint 10 includes the third fixing member 103, the first fixing member 101 and the first movable member 102 which are rotatably connected in sequence.
  • the first fixing member 101 is driven by the shoulder driving assembly to rotate relative to the second fixing member 201, which can simulate the lifting movement of the shoulder joint of the human arm.
  • the second fixing member 201 is fixedly connected to the robot's trunk or other supporting structure to play the role of fixing and supporting the entire robot arm.
  • the second mechanical joint 20 further includes a first connecting member 203 , the second fixing member 201 is rotatably connected to the first connecting member 203 , and the first connecting member 203 is rotatably connected to the second movable member 202 .
  • the second fixed part 201 in the second mechanical joint 20 is rotatably connected to the second movable part 202 through the first connecting part 203, so that the second axis 002 can be set at a position farther away from the second fixed part 201, so that the angle at which the second movable part 202 can rotate relative to the second fixed part 201 is significantly enlarged.
  • the robotic arm of this embodiment reduces the difficulty of wiring the drive rope 302 of the robotic elbow joint, which is helpful to reduce the difficulty of assembling and maintaining the robotic elbow joint.
  • the robotic arm of this embodiment has at least two driving sources 301 including two elbow driving pulleys, which are installed in the first movable part 102.
  • the two elbow driving pulleys can drive two elbow driving ropes 302 respectively.
  • the two elbow driving ropes 302 are wound around the two elbow driving rope pulleys, which also realize the connection between the driving ropes 302 and the first movable part 102.
  • the at least two drive ropes 302 include two elbow drive ropes 302, the two elbow drive ropes 302 are respectively connected to the first fixed member 101, the first movable member 102, and the second movable member 202, and are respectively connected to the first position and the second movable member 202. The second position is connected and finally connected to the second movable member 202 along the opposite winding direction.
  • a differential rope drive mechanism is used at the shoulder, which will be able to reduce the weight of the mechanism and place the motor module at the rear, and in some cases can also achieve torque superposition.
  • the third degree of freedom of the shoulder joint uses a pair of large and small wire wheels, which are driven by ropes to further improve transmission accuracy and reduce weight. Finally, the drive modules of the wrist and elbow joints are placed behind the shoulder joint arm module to reduce the weight of the entire robotic arm.
  • the structure of the robotic arm will be easy to modularize, thereby simplifying the manufacturing process of the robotic arm.
  • the end of the robot arm is usually used to complete the operation task.
  • the embodiment of the present application provides a control method of a robot arm, which can complete the balancing task through the non-end of the robot arm, so that the movable object can maintain balance at a certain position on the robot arm except the end.
  • the end is used to indicate the end of the robotic arm away from the shoulder joint.
  • the robotic arm is composed of multiple connecting rods connected end to end.
  • connecting rod 1 and connecting rod 2 constitute a robotic arm
  • the first end of connecting rod 1 is a shoulder joint
  • the second end of connecting rod 1 is connected to the first end of connecting rod 2
  • the end is used to indicate the second end of connecting rod 2.
  • the end can also be understood as a manipulator connected to the end of the robotic arm away from the shoulder joint, such as a robotic arm composed of connecting rod 1 and connecting rod 2, the first end of connecting rod 2 is connected to connecting rod 1, and the second end of connecting rod 2 is a manipulator, then the end is used to indicate the manipulator on connecting rod 2.
  • the second movable member 202 is the end of the robotic arm away from the shoulder joint, that is, the end of the robotic arm described in the embodiment of the present application.
  • the movable object can be used to indicate any three-dimensional object occupying a certain space, and the shape, size, material, mass, etc. of the object are not limited.
  • the movable object can be a bottle, a rod, a sphere, an irregular object, etc.
  • the movable object is a non-fixed object that can be placed at any position on the robot arm except the end, and is not fixed to the robot arm.
  • the movable object is placed at any position of the robot arm except the end, and part of the outer surface of the movable object is in contact with the robot arm, and the other outer surfaces are not in contact with the robot arm.
  • the control method of the robotic arm uses a non-end link of the robotic arm (such as the forearm of the robotic arm) to achieve the goal of keeping the bottle balanced on the surface of the forearm of the robotic arm without falling.
  • control method provided in the embodiment of the present application can be implemented by the controller of the aforementioned robotic arm.
  • the controller can be set in the robotic arm, or can be set outside the robotic arm and connected to the robotic arm by wire or wirelessly to control the movement of the robotic arm.
  • FIG4 shows a control method of a robot arm provided by an exemplary embodiment of the present application
  • FIG5 shows a schematic diagram of a robot arm balancing provided by an exemplary embodiment of the present application
  • a movable object is placed at any position on the robot arm except the end, and the description of the movable object can refer to the above content.
  • the control method of the robot arm provided by the embodiment of the present application includes:
  • Step 120 Acquire a dynamic system constructed at least according to the robotic arm, and obtain posture information from the dynamic system.
  • the dynamic system is used to describe the force and/or motion relationship of the robot arm when keeping the movable object in balance. Since the control of the robot arm (or can be understood as the dynamic response of the robot arm to the balance of the movable object) is subject to the dual constraints of the movement of the robot arm and the movement of the movable object, the dynamic system needs to reflect the interaction between the robot arm and the movable object.
  • a coordinate system can be constructed based on the robotic arm, and the torque information and/or motion information of the robotic arm can be obtained through at least one sensor associated with the robotic arm, such as the control torque of each joint of the robotic arm, and/or the displacement of each constituent rod relative to the initial position.
  • at least one sensor includes but is not limited to one of the following sensors: a torque sensor, a tactile sensor, a visual sensor, etc. It should be understood that, based on at least one sensor, relevant information of the movable object can also be obtained, such as the position of the movable object relative to the robotic arm. Subsequently, a dynamic system can be constructed based on the constructed coordinate system and the acquired torque information and/or motion information.
  • the dynamic system can be constructed based on the robot arm, or based on the robot arm and the movable object.
  • a dynamic system is constructed based on a robotic arm.
  • the two ends of the robot arm are connected, and the direction of the straight line perpendicular to the line between the two ends when the robot arm is extended is the x direction, the direction of the line between the two ends when the robot arm is extended is the y direction, and the direction of the vertical line perpendicular to the robot arm when it is extended is the z direction.
  • the x direction is the first direction involved in the embodiment of the present application
  • the y direction is the second direction involved in the embodiment of the present application.
  • the straight line perpendicular to the line between the two ends of the robot arm when it is extended is the x-axis (also called the first rotation axis), and the x-axis is located at the end of the robot arm close to the shoulder joint;
  • the extended line of the line between the two ends of the robot arm when it is extended is the y-axis (also called the second rotation axis), and the y-axis passes through the center of the robot arm.
  • the robot arm can rotate around the x-axis and/or the y-axis, and the angle of rotation of the robot arm around the x-axis can be regarded as the roll angle, and the angle of rotation of the robot arm around the y-axis can be regarded as the pitch angle.
  • the extension line of the robotic arm is the extension direction of the robotic arm when the robotic arm is straightened.
  • the vertical direction and the direction of the earth's gravity are on the same straight line
  • the horizontal plane is the plane where the horizontal direction perpendicular to the earth's gravity is located.
  • Figure 6 shows the extension line of the robotic arm when it is straightened.
  • the extension line is a ray pointing from the end of the robotic arm to the outside of the robotic arm, and the direction of the extension line is parallel to the direction of the end of the robotic arm starting from the center of mass of the forearm of the robotic arm.
  • the extension line is parallel to the y-axis.
  • the extension line in Figure 6 starts from the forearm of the robotic arm, and the exemplary extension line can start from any position on the robotic arm.
  • the direction of the extension line can be indicated by a ray starting from a position outside the robotic arm; this embodiment is not limited.
  • the x, y, and z axes can form a coordinate system, and the positions of the coordinate axes change with the movement of the robot arm. That is, the x-axis is always a straight line perpendicular to the line between the two segments of the robot arm when it is extended, and the straight line should be parallel to or tangent to the upper surface of the robot arm; the y-axis is always an extension of the line between the two ends of the robot arm when it is extended; the z-axis is always a vertical line perpendicular to the robot arm when it is extended, and the vertical line should be perpendicular to the upper surface of the robot arm.
  • the dynamic system can be constructed based on the robot arm and the movable object.
  • the movable object when the movable object is placed at any position other than the end of the robot arm, the movable object should be displayed in the x-direction.
  • the movable object is a bottle and it is regarded as a cylinder
  • the direction where the length of the cylinder is located is the x-direction
  • the plane where the bottom of the cylinder is located is the plane formed by the y-axis and the z-axis.
  • the posture information of the dynamics system can be obtained.
  • the posture information is used to indicate information associated with at least the manipulator obtained based on the dynamic system.
  • the dynamic system is used to describe the force and/or motion relationship of the manipulator when keeping the movable object in balance
  • the posture information is used to describe the posture of the manipulator when keeping the movable object in balance.
  • the posture information includes at least one of the following information: torque information of the manipulator, motion information of the manipulator, and motion information of the movable object.
  • the posture information includes the position coordinates and moving speed of the contact position between the manipulator and the movable object (which can be understood as the motion information of the manipulator), and/or the offset and offset speed of the center of mass (center of mass) of the movable object and the center of gravity (center of gravity) of the manipulator in the x direction (which can be understood as the motion information of the movable object).
  • the posture information can also include at least one of the torque size, torque direction, and torque action position when the manipulator moves and/or rotates (which can be understood as the torque information of the manipulator). It should be understood that the posture information is obtained according to actual needs, and this application does not limit this.
  • the posture information can be obtained based on a visual sensor.
  • a camera is set on the robotic arm or in the external environment to obtain image information of the robotic arm and the movable object, and the image information is used to show that the movable object is placed on the robotic arm.
  • the image information is processed to obtain an image processing result.
  • a cluster analysis is performed based on the difference in color between the movable object and the objects in the environment to determine the geometric center of the movable object, and then the position of the geometric center and the center of mass position in the dynamic system can be determined.
  • posture information can be obtained, such as determining the position coordinates and moving speed of the contact position according to the geometric center of the movable object, and determining the offset and offset speed according to the center of mass position of the movable object.
  • the posture information can also be obtained based on visual sensors and tactile sensors.
  • a tactile sensor is laid on the outer shell of the robot arm to collect the tactile signal corresponding to when the movable object is placed on the robot arm. Based on this, the specific position of the movable object on the robot arm can be accurately obtained, and the posture information can be determined in combination with the relevant information of the robot arm.
  • Step 140 Determine control information of the robot arm based on the posture information and the expected posture information of the dynamic system.
  • the expected posture information is used to indicate posture information that enables the movable object to maintain balance on the robotic arm.
  • the relevant description of the posture information can refer to the aforementioned content and will not be repeated here.
  • the movable object is placed at any position on the robot arm except the end.
  • the purpose of the robot arm control method provided in the embodiment of the present application is to ensure that the movable object is in a balanced state on the robot arm. Based on this, the controller needs to estimate the state at the next moment according to the current state of the dynamic system, and determine the control information of the robot arm at the next moment accordingly, so that the movable object can always maintain balance on the robot arm without falling.
  • the expected posture information can be determined according to actual needs.
  • the dynamic system constructed based on the robotic arm and the movable object estimates the state of the movable object and the robotic arm respectively, and determines the state of the movable object at the next moment according to the interaction between the movable object and the robotic arm.
  • the movable object in a static equilibrium state is stationary on the robotic arm, which can also be understood as the robotic arm and the movable object being in a relatively static state.
  • the expected posture information is the expected offset and expected offset speed between the center of mass of the movable object and the center of gravity of the robotic arm in the x-direction
  • the expected posture information can be set to 0, that is, the movable object is expected to be stationary on the robotic arm.
  • the robotic arm needs to be controlled to move so as to adjust the state of the movable object at the next moment.
  • the control information of each joint of the robotic arm such as joint angle, joint angular velocity, etc., can be determined through inverse kinematics according to the dynamic system constructed by the robotic arm.
  • the joints of the robotic arm are controlled according to the aforementioned control information, so as to achieve the purpose of keeping the movable object balanced on the robotic arm.
  • control method of the robotic arm provided in the embodiments of the present application can be implemented by a proportional-integration-differential (PID) controller.
  • PID proportional-integration-differential
  • the PID controller is a feedback loop component used in industrial control applications.
  • the collected data can be compared with the corresponding reference value (or expected value, target value), and the difference between the two can be used to calculate the new input value.
  • the purpose of this new input value is to make the system data reach or remain at the reference value.
  • step 140 can be implemented as: determining the difference between the posture information and the expected posture information; and determining the control information of the robot arm according to the difference.
  • control information is further determined according to at least one of a proportional control parameter, a differential control parameter, and an integral control parameter.
  • control information is determined by the sum of the difference between the posture information and the expected posture information and the product of the above three parameters.
  • the control information can also be classified accordingly.
  • the control information at least includes the control torque of the robot arm in the x-direction and the y-direction, for example, the control information includes the torque applied in the roll angle direction of the robot arm rotating around the x-axis (also referred to as the first control torque), and for another example, the control information includes the torque applied in the pitch angle direction of the robot arm rotating around the y-axis (also referred to as the second control torque).
  • the robot arm can be controlled so that the movable object can maintain balance on the robot arm without falling.
  • the posture information includes: the position coordinates and moving speed of the contact position between the manipulator and the movable object, and/or the offset amount and offset speed of the center of mass of the movable object and the center of gravity of the manipulator in the x-direction.
  • the expected posture information includes: the expected coordinates and expected moving speed of the contact position between the manipulator and the movable object, and/or the expected offset amount and expected offset speed of the center of mass of the movable object and the center of gravity of the manipulator in the x-direction.
  • the expected posture information is 0, which can be understood as the expectation that the movable object is in a static equilibrium state so that the movable object is stationary on the robot arm. In other embodiments, the expected posture information is not 0, which can be understood as, It is desired that the movable object is in a dynamic equilibrium state so that the movable object is displaced or rolled on the robot arm but does not fall.
  • the first control torque can be determined based on the position coordinates and moving speed of the contact position between the robotic arm and the movable object, and the expected coordinates and expected moving speed of the contact position between the robotic arm and the movable object; at the same time, the second control torque can be determined based on the offset and offset speed in the x-direction between the center of mass of the movable object and the center of gravity of the robotic arm, and the expected offset and expected offset speed in the x-direction between the center of mass of the movable object and the center of gravity of the robotic arm.
  • the robotic arm mentioned in this application can be understood as a rigid body on the entire robotic arm that is strongly associated with completing the balancing task of the movable object.
  • the entire robotic arm includes a shoulder joint, an upper arm and a lower arm, and the movable object is placed on the lower arm of the robotic arm, then the robotic arm mentioned in this application can refer to the lower arm of the entire robotic arm.
  • Step 160 Using the control information, control the movement of the robotic arm until the movable object reaches a balanced state on the robotic arm.
  • the robot arm can be controlled according to the control information.
  • control information includes the first control torque and/or the second control torque.
  • control information includes a first control torque
  • step 160 can be implemented as follows: according to the first control torque, the mechanical arm is controlled to move around a first rotation axis, and the first rotation axis is a straight line perpendicular to a line connecting the two ends of the mechanical arm when the mechanical arm is extended.
  • control information includes a second control torque
  • step 160 can be implemented as follows: according to the second control torque, the mechanical arm is controlled to move around a second rotation axis, and the second rotation axis is an extension line of a line connecting the two ends of the mechanical arm when the mechanical arm is extended.
  • step 160 can be implemented as follows: using the control information, the robotic arm is controlled to perform at least one motion behavior so that the movable object is in a balanced state on the robotic arm; wherein the motion behavior of the robotic arm includes at least one of the following behaviors: maintaining relative stillness, moving, and rotating.
  • control information is a torque sequence composed of the control torques of each joint of the robot arm, and the motion control of each joint of the robot arm will be realized according to the torque sequence.
  • the robot arm will be visually presented in two states: static and moving. Among them, the robot arm visually presents a static state, which can be understood as the movement behavior of the robot arm is to remain relatively static, that is, based on the control of each joint of the robot arm, the robot arm visually presents a performance that the robot arm is static.
  • the robot arm visually presents a moving state, which can be understood as the movement behavior of the robot arm is to move and/or rotate, that is, based on the control of each joint of the robot arm, the robot arm can visually present a performance that the robot arm is in motion, and its movement can be the movement and/or rotation of the robot arm, such as the robot arm swinging up and down with the shoulder joint as the center, and the robot arm rotating left and right with the shoulder joint as the rotation center.
  • the equilibrium state is used to indicate that the movable object is in a state of balanced force.
  • the movable object may no longer move, or may be in a state of small movement relative to the robot arm (such as small movement at a constant speed).
  • the equilibrium state is used to indicate that the movable object is in a state of balanced force and no longer moves.
  • the equilibrium state may include the following two types: a static equilibrium state, in which the movable object in the static equilibrium state is stationary on the robotic arm (or it can be understood that the movable object is stationary relative to the robotic arm); a dynamic equilibrium state, in which the movable object in the dynamic equilibrium state is displaced or rolled on the robotic arm (or it can be understood that the movable object is displaced or rolled relative to the robotic arm and is stationary).
  • the movable object in the dynamic equilibrium state is displaced or rolled on the robotic arm but does not fall.
  • control information determined based on the posture information and the expected posture information can enable the robotic arm to perform at least one movement behavior, the purpose of which is to make the movable object always stationary on the robotic arm, or the purpose of which is to change the relative position of the movable object and the robotic arm but the movable object does not fall from the robotic arm.
  • the movable object is a bottle
  • the bottle is placed on the forearm of the robot.
  • the controller determines the control information, it controls the joints of the robot to move accordingly.
  • the bottle can remain relatively still on the forearm of the robot, and the robot can remain relatively still or make fine adjustments in the x/y direction; or the bottle can roll on the forearm of the robot, and the robot can remain relatively still or make fine adjustments in the x/y direction, so that the bottle does not fall from the robot.
  • control of the robot arm according to the control information is a continuous process. 160 can be implemented as follows:
  • control the movement of the robot arm at the second moment Using the control information at the first moment, control the movement of the robot arm at the second moment;
  • the first moment is earlier than the second moment, the second moment is earlier than the third moment, the third moment is earlier than the nth moment, and n is a positive integer greater than 3.
  • the control information at the next moment can be determined based on the posture information at the current moment and the expected posture information, and the movement of the robot arm at the next moment can be controlled accordingly; then, the control information at the next moment can be determined based on the posture information at the next moment and the expected posture information, and the robot arm can be controlled to move accordingly.
  • the movement of the robot arm at a certain moment can cause the movable object to reach a balanced state on the robot arm, and the movement control of the robot arm will be stopped at this time.
  • the robot arm After determining the control information at the next moment based on the posture information at the current moment and the expected posture information, the robot arm will move, so that the posture information at the next moment and the expected posture information will change. Subsequently, the state of the movable object at the next moment can be judged, and the next moment has been reached, and the next moment becomes the new current moment. If the movable object reaches a balanced state on the robot arm, the control of the robot arm is stopped; if the balanced state is not reached, the posture information and expected posture information of the new next moment (relative to the new current moment) are continuously obtained, and the control of the robot arm is repeatedly realized.
  • the embodiments of the present application provide a new method for using a robotic arm, which can enable a movable object to maintain balance at any position on the robotic arm except the end without falling.
  • control information can be determined to achieve control of the robotic arm.
  • FIG. 7 shows a flow chart of a method for controlling a robotic arm provided by an exemplary embodiment of the present application.
  • Step 140 can be implemented as steps 141 and 142, as follows:
  • Step 141 Determine the difference between the posture information and the expected posture information.
  • Step 142 Determine control information based on the aforementioned difference.
  • the expected posture information is used to indicate the posture information that enables the movable object to maintain balance on the robotic arm.
  • the relevant description of the posture information and the expected posture information can be referred to the aforementioned content and will not be repeated here.
  • the posture information includes: the position coordinates and movement speed of the contact position between the manipulator and the movable object, and/or the offset and offset speed of the center of mass of the movable object and the center of gravity of the manipulator in the x-direction.
  • the expected posture information includes: the expected coordinates and expected movement speed of the contact position between the manipulator and the movable object, and/or the expected offset and expected offset speed of the center of mass of the movable object and the center of gravity of the manipulator in the x-direction.
  • the difference between the posture information and the expected posture information is at least one of the following differences: the difference between the position coordinates and the expected coordinates, the difference between the moving speed and the expected moving speed, the difference between the offset and the expected offset, and the difference between the offset speed and the expected offset speed.
  • the control method of the robotic arm provided in the embodiments of the present application is executed by a PID controller, and the control information is further determined according to at least one of a proportional control parameter, a differential control parameter, and an integral control parameter.
  • the PID controller taking the control information as the control torque as an example, the PID controller can be implemented by the following formula:
  • ⁇ is used to indicate the control torque
  • a is used to indicate the attitude information
  • the first-order derivative used to indicate attitude information a ref
  • It is used to indicate the expected posture information
  • k p , k d , and ki are the proportional control parameter, the differential control parameter, and the integral control parameter, respectively
  • t s and t f are used to indicate the start and end times, respectively.
  • the expected posture information may be determined according to actual needs, which will be described in detail below.
  • the control information includes the first control torque and/or the second control torque.
  • the first control torque is used to indicate the torque applied in the roll angle direction of the mechanical arm rotating around the first rotation axis
  • the first rotation axis is a straight line perpendicular to the line connecting the two ends of the mechanical arm when it is extended
  • the second control torque is used to indicate the torque applied in the pitch angle direction of the mechanical arm rotating around the second rotation axis.
  • the second axis of rotation is the extension line of the line between the two ends of the robot arm when it is extended.
  • step 140 can be implemented as step 1431, step 1432, and/or step 140 can be implemented as step 1441, step 1442, and step 160 can be implemented as step 1601 and/or step 1602. That is, step 141 and step 160 have the following two optional implementations:
  • the posture information includes the position coordinates and movement speed of the contact position between the robot arm and the movable object
  • the expected posture information includes the expected coordinates and expected movement speed of the contact position
  • the control information includes the first control torque
  • Step 1431 Determine the difference between the position coordinates and the expected coordinates, and the difference between the moving speed and the expected moving speed.
  • Step 1432 Determine the first control torque according to the difference between the position coordinates and the expected coordinates, and the difference between the moving speed and the expected moving speed.
  • Step 1601 According to a first control torque, control the robot arm to move around a first rotation axis.
  • the first control torque is used to indicate the torque applied in the roll angle direction of the robotic arm rotating around the first axis.
  • the first axis is a straight line perpendicular to the line between the two ends of the robotic arm when it is extended, and the first axis is located at one end of the robotic arm close to the shoulder joint.
  • the first rotation axis is the x-axis.
  • the first control torque determined based on step 1432 is the torque applied in the roll angle direction of the robot arm rotating around the x-axis, so that the robot arm can move around the x-axis, thereby adjusting the contact position between the robot arm and the movable object.
  • the determination of the first control torque can be implemented by a PID controller. Based on this, the determination of the first control torque can be implemented by the following formula:
  • ⁇ 1 is the first control torque
  • ⁇ is the position coordinate of the contact position between the manipulator and the movable object
  • ⁇ ref is used to indicate the expected coordinates and the expected moving speed, respectively
  • k p1 , k d1 , and k i1 are the proportional control parameter, the differential control parameter, and the integral control parameter, respectively
  • t s and t f are used to indicate the start and end time, respectively.
  • the first control torque can be determined based on the posture information (i.e., the position coordinates and moving speed of the contact position between the robot arm and the movable object) and the expected posture information (i.e., the expected coordinates and expected moving speed of the contact position between the robot arm and the movable object), so as to realize the movement of the robot arm in the roll angle direction.
  • the controller can adjust the up and down rotation of the robot arm through the first control torque, so that the contact position between the bottle and the robot arm changes.
  • the robot arm can be controlled to lift up or press down by the first control torque, so that the geometric center of the bottle is close to the middle position of the robot arm, thereby reducing the risk of the bottle falling from the robot arm.
  • the robot arm can be controlled to lift up or press down by the first control torque, so that the geometric center of the bottle is close to the middle position of the robot arm.
  • the posture information includes the offset amount and offset speed of the center of mass of the movable object and the center of gravity of the robotic arm in the direction of the first rotation axis
  • the expected posture information includes the expected offset amount and expected offset speed of the center of mass of the movable object and the center of gravity of the robotic arm in the direction of the first rotation axis
  • the control information includes a second control torque.
  • Step 1441 Determine the difference between the offset and the expected offset, and the difference between the offset speed and the expected offset speed.
  • Step 1442 Determine the first 2. Control torque.
  • Step 1602 According to the second control torque, the robot arm is controlled to rotate around the second rotation axis.
  • the second control torque is used to indicate the torque applied in the pitch angle direction of the robotic arm rotating around the second rotation axis.
  • the first rotation axis is a straight line perpendicular to the line between the two ends of the robotic arm when it is extended, and the first rotation axis is located at one end of the robotic arm close to the shoulder joint;
  • the second rotation axis is the extension line of the line between the two ends of the robotic arm when it is extended, and the second rotation axis passes through the center of the robotic arm.
  • the first rotation axis is the x-axis
  • the second rotation axis is the y-axis.
  • the second control torque determined based on step 1442 is the torque applied in the pitch angle direction of the mechanical arm rotating around the y-axis, so that the mechanical arm can move around the y-axis, thereby adjusting the offset position of the center of mass of the movable object and the center of gravity of the mechanical arm on the x-axis.
  • the second control torque can be determined by a PID controller. Based on this, the second control torque can be determined by the following formula:
  • ⁇ 2 is the second control torque
  • x is the offset between the center of mass of the movable object and the center of gravity of the robotic arm in the direction of the first rotation axis
  • x ref is used to indicate the expected offset and expected offset speed, respectively
  • kp2 , kd2 , ki2 are proportional control parameters, differential control parameters, and integral control parameters, respectively
  • ts , tf are used to indicate the start and end times, respectively.
  • the second control torque can be determined based on the machine attitude information (i.e., the offset and offset speed of the center of mass of the movable object and the center of gravity of the robot arm on the x-axis) and the expected attitude information (i.e., the expected offset and expected offset speed of the center of mass of the movable object and the center of gravity of the robot arm on the x-axis), so as to realize the movement of the robot arm in the pitch angle direction.
  • machine attitude information i.e., the offset and offset speed of the center of mass of the movable object and the center of gravity of the robot arm on the x-axis
  • expected attitude information i.e., the expected offset and expected offset speed of the center of mass of the movable object and the center of gravity of the robot arm on the x-axis
  • the controller can adjust the clockwise or counterclockwise rotation of the robot arm through the second control torque, so that the relative position of the center of mass of the movable object and the center of gravity of the robot arm on the x-axis changes.
  • the second control torque can be used to adjust the relative position of the center of mass of the bottle and the center of gravity of the robot arm on the x-axis. For example, if the center of mass of the bottle is on the left side of the center of gravity of the robot arm, the robot arm is controlled to rotate clockwise according to the second control torque so that the center of mass of the bottle is close to the center of gravity of the robot arm; for another example, if the center of mass of the bottle is on the right side of the center of gravity of the robot arm, the robot arm is controlled to rotate counterclockwise according to the second control torque so that the center of mass of the bottle is close to the center of gravity of the robot arm.
  • control information includes a first control torque and a second control torque.
  • the posture information includes: the position coordinates of the contact position between the robot arm and the movable object (i.e., the aforementioned ⁇ ) and the moving speed (i.e., the aforementioned ), and the displacement of the center of mass of the movable object and the center of gravity of the robot arm in the direction of the first rotation axis (i.e., the aforementioned x) and the displacement speed (i.e., the aforementioned );
  • the expected posture information includes the expected coordinates of the contact position (ie, the aforementioned ⁇ ref ) and the expected movement speed (ie, the aforementioned ), and the expected offset amount (i.e., the aforementioned x ref ) and the expected offset speed (i.e., the aforementioned x ref ) of the center of mass of the movable object and the center of gravity of the robot arm in the direction of the first rotation axis. ).
  • controller can be implemented by the following formula:
  • ⁇ 1 , ⁇ 2 , k p1 , k d1 , k i1 , k p2 , k d2 , and k i2 can be referred to the aforementioned content and will not be repeated here.
  • the above ⁇ 1 and ⁇ 2 may be determined by one controller, or by two controllers respectively, which is not limited in the present application.
  • the movable object is in a relatively stable state on the robotic arm. For example, the contact position between the robotic arm and the movable object is close to the center of gravity of the robotic arm, and the center of mass of the movable object is also close to the center of gravity of the robotic arm. For another example, the difference between the position coordinates of the contact position between the robotic arm and the movable object and the position coordinates of the center of gravity of the robotic arm is less than a first threshold, and the position coordinates of the center of mass of the movable object and the position coordinates of the center of gravity of the robotic arm are less than a second threshold.
  • the first threshold and the second threshold can be set according to actual needs, and this application does not limit this.
  • the movable object is in a relatively unstable state on the robotic arm.
  • the contact position between the robotic arm and the movable object is far away from the center of gravity of the robotic arm, and/or the center of mass of the movable object is also far away from the center of gravity of the robotic arm.
  • the difference between the position coordinates of the contact position between the robotic arm and the movable object and the position coordinates of the center of gravity of the robotic arm is not less than a first threshold, and/or the position coordinates of the center of mass of the movable object and the position coordinates of the center of gravity of the robotic arm are not less than a second threshold.
  • the first threshold and the second threshold can be set according to actual needs, and the present application does not limit this.
  • the expected posture information can be assigned a value according to the state estimation result, and the assigned value can be 0 or a non-zero value.
  • the first control torque and the second set of control torques obtained in this way will make the movable object in a dynamic equilibrium state on the manipulator, which can also be understood as enabling the movable object to move or roll on the manipulator without falling.
  • control method of the robot arm provided in the embodiment of the present application provides several ways to determine the control information, wherein the control information can be determined according to the difference between the posture information and the expected posture information, thereby realizing the control of the robot arm.
  • the posture information includes the position coordinates and moving speed of the contact position between the robotic arm and the movable object
  • the expected posture information includes the expected coordinates of the contact position and the expected moving speed. Based on the difference between the position coordinates and the expected coordinates, and the difference between the moving speed and the expected moving speed, the difference between the relative position of the movable object on the robotic arm and the expected position when the movable object is in a balanced state on the robotic arm can be determined; subsequently, the controller can determine the first control torque based on the above two differences so that the robotic arm can move around the x-axis, thereby adjusting the contact position between the robotic arm and the movable object so that the relative position of the movable object on the robotic arm is as close to the expected position as possible until the position of the movable object on the robotic arm becomes the expected position.
  • the posture information includes the offset and offset speed of the center of mass of the movable object and the center of gravity of the robotic arm in the direction of the first rotation axis
  • the expected posture information includes the expected offset and the expected offset speed of the center of mass of the movable object and the center of gravity of the robotic arm in the direction of the first rotation axis.
  • the controller can determine the second control torque based on the above two differences so that the robotic arm can move around the y-axis, thereby adjusting the offset position of the center of mass of the movable object and the center of gravity of the robotic arm on the x-axis until the difference between the center of mass of the movable object and the center of gravity of the robotic arm on the x-axis disappears.
  • FIG8 shows a flowchart of a control method for a robotic arm provided by an exemplary embodiment of the present application
  • step 120 can be implemented as step 121 or step 122
  • step 160 can be implemented as step 161:
  • Step 121 Based on the visual sensor, obtain posture information from the dynamic system.
  • Step 122 Based on the visual sensor and the tactile sensor, obtain posture information from the dynamic system.
  • step 121 and step 122 can be performed either one or the other, and cannot be performed at the same time.
  • step 121 or step 122 a dynamic system needs to be constructed first.
  • the construction of the dynamic system can refer to the above content and will not be described in detail.
  • the visual sensor is set on the robot arm, or on the outside of the robot arm; the tactile sensor is laid on the outer shell of the robot arm and can be used as the electronic skin of the robot arm.
  • a joint motor encoder is installed on the joint motor of the robot arm to feedback the angle, angular velocity and current information of each joint rotation, which can be used to estimate the state of the robot arm.
  • tactile sensors are laid on the fingers, palms, and a connecting rod of the robot arm to obtain feedback information of movable objects.
  • the posture information can also be obtained through a proximity sensor, wherein the proximity sensor is used to send a signal when two objects approach each other, and when the movable object approaches the contact sensor, the posture information can be obtained accordingly.
  • the present application provides the following three optional implementation methods:
  • Implementation method 1 Full-degree-of-freedom posture recognition of movable objects based on visual perception.
  • the posture recognition of the full six-DOF of the movable object can be obtained through the visual sensor to determine the relative position relationship between the movable object and the robotic arm, thereby determining the posture information.
  • the image information is obtained through the visual sensor, and the image processing is performed to obtain the posture information of the movable object on the robotic arm, such as the position information on the x/y/z axis and the posture in the roll angle/pitch angle/roll angle direction based on the image processing.
  • the operation time of gesture recognition is about 100 milliseconds, that is, 10 Hz.
  • Implementation method 2 Data image processing based on visual sensors.
  • a lightweight data image processing method can be applied to determine the position of the movable object in the dynamic system.
  • a camera is set on the robot arm or in the external environment to obtain image information of the robot arm and the movable object, and the image information is used to show that the movable object is placed on the robot arm.
  • the image information is then processed to obtain an image processing result.
  • cluster analysis is performed based on the difference in color between the movable object and the objects in the environment to determine the geometric center of the movable object, and then the position of the geometric center and the center of mass position in the dynamic system can be determined.
  • posture information can be obtained, such as determining the position coordinates and moving speed of the contact position based on the geometric center of the movable object, and determining the offset and offset speed based on the center of mass position of the movable object.
  • the computing speed is relatively fast, with a computing time of about 10 milliseconds, ie, 10 Hz.
  • step 121 may be implemented as follows:
  • Image information is acquired through a visual sensor, and the image information is used to display the movable object placed on the robotic arm; the image information is processed to obtain an image processing result; and the posture information is determined using the image processing result.
  • step 122 may be implemented as follows:
  • first information of the movable object in the first direction is determined; based on the tactile sensor, second information of the movable object in the second direction is determined; the first information and the second information are fused to obtain posture information; wherein the first direction is the direction of the straight line perpendicular to the line connecting the two ends when the robot arm is extended, and the second direction is the direction of the line connecting the two ends when the robot arm is extended.
  • first direction which can be understood as the aforementioned x direction
  • second direction which can be understood as the aforementioned y direction
  • the movable object can describe the relative position and force interaction with the robot arm in both directions.
  • the descriptions in the corresponding directions are obtained through different sensors to form the corresponding first information and second information.
  • the first information is the geometric center and center of mass of the movable object obtained by image processing through the visual sensor.
  • the second information is the specific position of the movable object on the robot arm obtained by the tactile sensor. Then, according to the fusion processing of the first information and the second information, the posture information, such as the contact position between the movable object and the robot arm, can be determined.
  • the relevant content of determining the first information based on the visual sensor can refer to the above content and will not be repeated here; determining the second information based on the tactile sensor and the fusion processing will be described in detail below.
  • Implementation method three Data fusion processing based on visual sensors and tactile sensors.
  • the posture information may also be obtained based on a visual sensor and a tactile sensor.
  • the processing of the visual sensor may refer to the above content, and the processing of the tactile sensor is specifically as follows.
  • a tactile sensor can be used to compensate for this.
  • a tactile sensor is laid on the outer shell of the robotic arm to collect the tactile signal corresponding to when the movable object is placed on the robotic arm. Based on this, the specific position of the movable object in the x-direction on the robotic arm can be accurately obtained.
  • the tactile sensor gives the position and pitch angle posture of the movable object in the y direction; at the same time, combined with the lightweight image processing of the visual sensor and compared with the prior image data, the specific position of the movable object in the x direction on the robotic arm can be determined.
  • the operation time of the tactile sensor in this implementation is about 10 milliseconds, that is, 100 Hz.
  • implementation method 1 when using implementation method 1, there will be a linear error of 1-2 cm and an angular error of 5-10 degrees in determining the position of the movable object on the robotic arm, that is, the acquired posture information has certain linear errors and angular errors. Similarly, there are certain errors when using implementation methods 2 and 3. Furthermore, implementation method 3 is an improved implementation method based on implementation method 2, which can overcome the shortcoming of inaccurate measurement of the center of mass in the direction of the y-axis in implementation method 2, thereby making the error of the acquired posture information smaller.
  • step 122 can be implemented as follows: based on the visual sensor, determine the first information of the movable object in the first direction; based on the tactile sensor, determine the second information of the movable object in the second direction; and fuse the first information and the second information to obtain posture information.
  • the determination of the second information may be specifically implemented as follows: determining the position information of the contact point between the movable object and the robotic arm relative to the robotic arm through a tactile sensor.
  • the position information determined thereby includes at least the position coordinates of the contact position between the movable object and the robotic arm.
  • the relevant content of the tactile sensor obtaining the position information can refer to the above content and will not be repeated.
  • the tactile sensor is laid on the outer shell of the robotic arm, and the tactile sensor user obtains relevant information about the contact position between the movable object and the robotic arm, including the position coordinates of the contact position, torque information, etc.
  • the first information is visually perceived data
  • the second information is tactilely perceived data
  • the two data can be fused.
  • the fusion process can adopt any one or more of the following algorithms: including Kalman Filtering (KF) algorithm, Extended Kalman Filtering (EKF) algorithm, and Particle Filter (PF) algorithm.
  • KF Kalman Filtering
  • EKF Extended Kalman Filtering
  • PF Particle Filter
  • step 160 can be implemented as step 161, which is as follows:
  • Step 161 Using the control information, control the robotic arm to perform at least one motion behavior so that the movable object is in a balanced state on the robotic arm.
  • the motion behavior of the robot arm includes at least one of the following behaviors: keeping relatively still, moving, and rotating.
  • control information includes the first control torque and/or the second control torque.
  • control information is a torque sequence composed of the control torques of each joint of the robot arm, and the motion control of each joint of the robot arm will be realized according to the torque sequence.
  • the robot arm will be visually presented in two states: static and moving. Among them, the robot arm visually presents a static state, which can be understood as the movement behavior of the robot arm is to remain relatively static, that is, based on the control of each joint of the robot arm, the robot arm visually presents a performance that the robot arm is static.
  • the robot arm visually presents a moving state, which can be understood as the movement behavior of the robot arm is to move and/or rotate, that is, based on the control of each joint of the robot arm, the robot arm can visually present a performance that the robot arm is in motion, and its movement can be the movement and/or rotation of the robot arm, such as the robot arm swinging up and down with the shoulder joint as the center, and the robot arm rotating left and right with the shoulder joint as the rotation center.
  • the control information includes a first control torque
  • step 160 can be implemented as follows: according to the first control torque, the mechanical arm is controlled to move around a first rotation axis so that the movable object is in a balanced state on the mechanical arm, and the first rotation axis is a straight line perpendicular to the line between the two ends of the mechanical arm when the mechanical arm is extended.
  • the control information includes a second control torque
  • step 160 can be implemented as follows: according to the second control torque, the mechanical arm is controlled to move around a second rotation axis so that the movable object is in a balanced state on the mechanical arm, and the second rotation axis is an extension of the line between the two ends of the mechanical arm when the mechanical arm is extended.
  • the equilibrium state includes the following two:
  • Static equilibrium state the movable object in the static equilibrium state remains stationary on the robotic arm; dynamic equilibrium state: the movable object in the dynamic equilibrium state moves or rolls on the robotic arm.
  • the static equilibrium state can also be understood as the movable object being stationary relative to the robotic arm
  • the dynamic equilibrium state can also be understood as the movable object being displaced or rolling relative to the robotic arm and being stationary.
  • the movable object in the dynamic equilibrium state is displaced or rolled on the robotic arm but does not fall off, or it can be understood as: the movable object is displaced or rolled relative to the robotic arm and is stationary, and the movable object does not fall off the robotic arm.
  • the robotic arm can perform at least one movement behavior, the purpose of which is to make the movable object always stationary on the robotic arm, or the purpose of which is to change the relative position of the movable object and the robotic arm but prevent the immovable object from falling from the robotic arm.
  • the bottle is placed on the forearm of the robot.
  • the controller determines the control information, it controls the joints of the robot to move accordingly. It is assumed that the movable object is in a state of dynamic equilibrium, and the bottle can roll on the forearm of the robot.
  • the robot makes fine adjustments in the x/y direction, so that the bottle rolls from the left side in the figure (i.e., the position close to the end of the robot) to the right side in the figure (i.e., the position close to the shoulder joint of the robot) to avoid falling from the robot.
  • control method of the robotic arm provided in the embodiment of the present application can be applied to a robotic arm composed of one or more connecting rods, and the movable object can be placed on the forearm or upper arm of the robotic arm, or on an intermediate connecting rod of the robotic arm, and the present application does not limit this.
  • step 161 may be implemented as follows:
  • the control information is used to control the manipulator to perform at least one motion behavior, so that the movable object is in a static equilibrium state, and the movable object in the static equilibrium state is stationary on the manipulator;
  • the control information is used to control the robot arm to perform at least one motion behavior so that the movable object is in a dynamic equilibrium state.
  • the movable object in the dynamic equilibrium state is moved in the robot arm. Displacement or rolling occurs on the
  • the first value can be set according to actual needs.
  • the first value is 0.
  • the expected posture information includes the expected coordinates of the contact position (ie, the aforementioned ⁇ ref ) and the expected movement speed (ie, the aforementioned ), and the expected offset amount (i.e., the aforementioned x ref ) and the expected offset speed (i.e., the aforementioned x ref ) of the center of mass of the movable object and the center of gravity of the robot arm in the direction of the first rotation axis. ).
  • ⁇ is used to indicate the position coordinate
  • ⁇ ref is used to indicate the expected coordinate, it can be quantized.
  • the expected posture information is 0, which can be understood as the expected movable object being in a static equilibrium state so that the movable object is stationary on the robot arm.
  • ⁇ ref 0
  • the moving speed of the center of mass of the movable object in the direction of the y-axis is expected to be as small as possible
  • x ref 0
  • the movable object is expected to maintain balance on the robot arm
  • x ref 0
  • the movable object is expected to be in a static equilibrium state on the robot arm, The control information obtained in this way will make the movable object on the robot arm be in a static equilibrium state, which can also be understood as being able to make the movable object and the robot arm relatively static.
  • the expected posture information can be assigned a value according to the state estimation results of the robotic arm and the movable object (that is, the expected posture information is not the first value), and the assignment can be a non-zero value.
  • the control information obtained in this way will make the movable object in a dynamic equilibrium state on the robotic arm, and can also be understood as being able to make the movable object move or roll on the robotic arm but not fall off.
  • the robot arm when the robot arm is controlled to move, at least one of the control torque, rotation angle, and angular velocity corresponding to the robot arm changes.
  • the robot arm will rotate in the x/y direction to achieve fine adjustment of the position of the movable object on the robot arm, thereby causing at least one of the control torque, rotation angle, and angular velocity of the robot arm to change.
  • control method of the robotic arm provided in the embodiment of the present application provides multiple methods for acquiring posture information, and also provides multiple methods for realizing that the movable object is in a balanced state on the robotic arm, so that the movable object can maintain balance on the robotic arm without falling.
  • the overall control architecture of the robotic arm is shown in FIG13 .
  • control method of the robotic arm is to control the posture and movement of the robotic arm by inputting instructions to the joint motors of the robotic arm.
  • joint motor encoders are installed on the joint motors of the robot arm to feedback the angle, angular velocity and current information of the joint motor rotation. This information can be used to estimate the state of the robot arm.
  • tactile sensors are also installed on the fingers, palms, and certain connecting rods of the robot arm. Subsequently, the collected tactile signals are collected by the tactile driver for signal and other data processing.
  • a camera may be installed in the external environment of the robot arm to obtain visual perception data. Subsequently, the visual perception data and the tactile perception data may be fused. For example, if the movable object is a bottle, the state estimation of the bottle (i.e., bottle state estimation) may be obtained through the fusion processing of the perception data.
  • the state estimation of the bottle i.e., bottle state estimation
  • the controller of the robot arm can be designed based on the tactile perception information and the position and posture of the bottle obtained by estimating the bottle state.
  • the controller design can be model-free, such as a PID controller.
  • the output of the controller can be the position and posture of the end of the robot arm, or the position and posture of the center of mass of a certain link of the robot arm.
  • the input of the controller also includes an expected value, which is the expected posture information in the aforementioned content.
  • an expected value which is the expected posture information in the aforementioned content.
  • the model of the robot arm can be applied to calculate the joint angle of each joint through inverse kinematics from the position and posture of the end, or the position and posture of the center of mass of the connecting rod. It should be understood that as time changes, the controller outputs a sequence of the end posture of the robot arm, or the center of mass posture of the connecting rod. Then, corresponding to a series of inverse kinematics solutions, the result is the angular velocity of each joint of the robot arm and the sequence of joint angular velocities. Sending this sequence of joint angles and joint angular velocities to the robot arm can achieve the control of the end posture of the robot arm or the position and posture of the center of mass of a certain connecting rod.
  • FIG14 shows a schematic diagram of a control device for a robotic arm provided by an exemplary embodiment of the present application, the device comprising:
  • An acquisition module 1420 configured to acquire a dynamic system at least constructed according to the robot arm, and obtain posture information from the dynamic system
  • a determination module 1440 is used to determine control information of the manipulator based on the posture information and expected posture information of the dynamic system, where the expected posture information is used to indicate posture information that enables the movable object to maintain balance on the manipulator;
  • the control module 1460 is used to control the movement of the robot arm by using the control information until the movable object reaches a balanced state on the robot arm.
  • the determination module 1440 is used to determine the difference between the posture information and the expected posture information; and determine the control information based on the difference.
  • the posture information includes the position coordinates and moving speed of the contact position between the robotic arm and the movable object
  • the expected posture information includes the expected coordinates and expected moving speed of the contact position
  • the control information includes a first control torque
  • a determination module 1440 is used to determine the difference between the position coordinates and the expected coordinates, and the difference between the moving speed and the expected moving speed
  • the first control torque is determined according to the difference between the position coordinates and the expected coordinates, and the difference between the moving speed and the expected moving speed
  • a control module 1460 is used to control the robotic arm to move around a first axis according to the first control torque
  • the first control torque is used to indicate the torque applied in the direction of the roll angle of the rotation of the robotic arm around the first axis, the first axis being a straight line perpendicular to the line connecting the two ends of the robotic arm when the robotic arm is extended, and the first axis is located at one end of the robotic arm close to the shoulder joint.
  • the posture information includes the offset and offset speed of the center of mass of the movable object and the center of gravity of the robotic arm in the direction of the first rotation axis
  • the expected posture information includes the expected offset and expected offset speed of the center of mass of the movable object and the center of gravity of the robotic arm in the direction of the first rotation axis
  • the control information includes a second control torque
  • a determination module 1440 is used to determine the difference between the offset and the expected offset, and the difference between the offset speed and the expected offset speed
  • the second control torque is determined according to the difference between the offset and the expected offset, and the difference between the offset speed and the expected offset speed
  • a control module 1460 is used to control the robotic arm to rotate around the second rotation axis for movement according to the second control torque
  • the second control torque is used to indicate the torque applied in the pitch angle direction of the robotic arm rotating around the second rotation axis
  • the first rotation axis is a straight line perpendicular to the line between the two ends of the robotic arm when it is extended
  • the acquisition module 1420 is used to obtain posture information from the dynamic system based on a visual sensor; or to obtain posture information from the dynamic system based on a visual sensor and a tactile sensor.
  • the acquisition module 1420 is used to acquire image information through a visual sensor, the image information is used to show that the movable object is placed on the robotic arm; process the image information to obtain an image processing result; and use the image processing result to determine the posture information.
  • the acquisition module 1420 is used to determine first information of the movable object in the first direction based on a visual sensor; determine second information of the movable object in the second direction based on a tactile sensor; and fuse the first information and the second information to obtain posture information; wherein the first direction is the direction of a straight line perpendicular to a line connecting the two ends of the robotic arm when the robotic arm is extended, and the second direction is the direction of a line connecting the two ends of the robotic arm when the robotic arm is extended.
  • the acquisition module 1420 is used to determine the position information of the contact point between the movable object and the robotic arm relative to the robotic arm through a tactile sensor.
  • control module 1460 is used to control the robot arm to perform at least one motion behavior using the control information so that the movable object is in a balanced state on the robot arm; wherein the motion behavior of the robot arm includes at least one of the following behaviors: Types: remain relatively still, move, rotate.
  • control module 1460 is used to control the robotic arm to perform at least one movement behavior using control information when the expected posture information is a first value, so that the movable object is in a static equilibrium state, and the movable object in the static equilibrium state remains stationary on the robotic arm; and to control the robotic arm to perform at least one movement behavior using control information when the expected posture information is not the first value, so that the movable object is in a dynamic equilibrium state, and the movable object in the dynamic equilibrium state moves or rolls on the robotic arm but does not fall off.
  • FIG15 shows a schematic block diagram of the structure of a mechanical arm provided in an embodiment of the present application.
  • the mechanical arm in this embodiment as shown in FIG15 may include: one or more controllers 1501; one or more sensors 1502, one or more motors 1503 and a memory 1504.
  • the controller 1501, sensor 1502, motor 1503 and memory 1504 are connected via a bus 1505.
  • the memory 1504 is used to store a computer program, which includes program instructions, and the controller 1501 is used to execute the program instructions stored in the memory 1504.
  • Memory 1504 may include volatile memory (Volatile Memory), such as random-access memory (Random-Access Memory, RAM); memory 1504 may also include non-volatile memory (Non-Volatile Memory), such as flash memory (Flash Memory), solid-state drive (Solid-State Drive, SSD), etc.; memory 1504 may also include a combination of the above types of memory.
  • volatile memory such as random-access memory (Random-Access Memory, RAM)
  • non-Volatile Memory such as flash memory (Flash Memory), solid-state drive (Solid-State Drive, SSD), etc.
  • flash Memory Flash Memory
  • SSD solid-state drive
  • memory 1504 may also include a combination of the above types of memory.
  • the controller 1501 may be a central processing unit (CPU).
  • the controller 1501 may further include a hardware chip.
  • the hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), etc.
  • the PLD may be a field-programmable gate array (FPGA), a generic array logic (GAL), etc.
  • the controller 1501 may also be a combination of the above structures.
  • the memory 1504 is used to store a computer program, which includes program instructions.
  • the controller 1501 is used to execute the program instructions stored in the memory 1504 to implement the steps of the aforementioned robot arm control method.
  • controller 1501 is configured to call program instructions to execute:
  • the control information is used to control the movement of the robot arm until the movable object reaches a balanced state on the robot arm.
  • controller 1501 is configured to call program instructions to execute:
  • the posture information includes the position coordinates and the moving speed of the contact position between the robot arm and the movable object
  • the expected posture information includes the expected coordinates and the expected moving speed of the contact position
  • the control information includes the first control torque
  • the controller 1501 is configured to call the program instructions for executing:
  • the robotic arm Determine the difference between the position coordinates and the expected coordinates, and the difference between the moving speed and the expected moving speed; determine the first control torque based on the difference between the position coordinates and the expected coordinates, and the difference between the moving speed and the expected moving speed; control the robotic arm to move around the first rotation axis based on the first control torque; wherein the first control torque is used to indicate the torque applied in the roll angle direction of the robotic arm rotating around the first rotation axis, and the first rotation axis is a straight line perpendicular to the line connecting the two ends of the robotic arm when it is extended.
  • the posture information includes the offset and the offset speed of the center of mass of the movable object and the center of gravity of the robotic arm in the direction where the first rotation axis is located
  • the expected posture information includes the expected offset and the expected offset speed of the center of mass of the movable object and the center of gravity of the robotic arm in the direction where the first rotation axis is located
  • the control information includes the second control torque
  • the controller 1501 is configured to call the program instruction to execute:
  • the robotic arm Determine the difference between the offset and the expected offset, and the difference between the offset speed and the expected offset speed; determine the second control torque according to the difference between the offset and the expected offset, and the difference between the offset speed and the expected offset speed; control the robotic arm to rotate around the second rotation axis to move according to the second control torque; wherein the second control torque is used to indicate the torque applied in the pitch angle direction of the robotic arm rotating around the second rotation axis, the first rotation axis is a straight line perpendicular to a line connecting the two ends of the robotic arm when the robotic arm is vertically extended, and the second rotation axis is an extension line of the line connecting the two ends of the robotic arm when the robotic arm is extended.
  • controller 1501 is configured to call program instructions to execute:
  • the control information is used to control the robot arm to perform at least one motion behavior so that the movable object is in a balanced state on the robot arm.
  • the motion behavior of the robot arm includes at least one of the following behaviors: maintaining relative stillness, moving, and rotating.
  • controller 1501 is configured to call program instructions to execute:
  • the control information is used to control the robotic arm to perform at least one movement behavior so that the movable object is in a static equilibrium state, and the movable object in the static equilibrium state remains stationary on the robotic arm; when the expected posture information is not the first value, the control information is used to control the robotic arm to perform at least one movement behavior so that the movable object is in a dynamic equilibrium state, and the movable object in the dynamic equilibrium state moves or rolls on the robotic arm but does not fall off.
  • Sensor 1502 is used to obtain posture information from the dynamic system based on a visual sensor; or to obtain posture information from the dynamic system based on a visual sensor and a tactile sensor.
  • the relevant content of the posture information can refer to the above content and will not be repeated here.
  • the motor 1503 is used to control the movement of the robot arm and complete the action task according to the control information.
  • the motor 1503 includes the motors of each joint of the robot arm and the wheel motors.
  • an embodiment of the present application further provides a robot, the robot comprising the above-described mechanical arm, which can be used to implement the control method of the mechanical arm provided in the above-described method embodiments.
  • the structure of the mechanical arm can refer to the description of FIG. 15, and the control method of the mechanical arm can refer to the above-described multiple method embodiments, which will not be described in detail.
  • An embodiment of the present application also provides a robotic arm, which includes a controller and a memory, wherein at least one program code is stored in the memory, and the at least one program code is loaded and executed by the controller to implement the control method of the above-mentioned robotic arm.
  • An embodiment of the present application also provides a computer device, which includes a processor and a memory, wherein at least one program is stored in the memory, and the at least one program is loaded and executed by the processor to implement the above-mentioned control method of the robotic arm.
  • An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored.
  • the computer program is used to be executed by a processor to implement the above-mentioned control method of the robotic arm.
  • the computer-readable storage medium may include: a read-only memory (ROM), a random access memory (RAM), a solid-state drive (SSD), or an optical disk.
  • the random access memory may include a resistive random access memory (ReRAM) and a dynamic random access memory (DRAM).
  • ReRAM resistive random access memory
  • DRAM dynamic random access memory
  • An embodiment of the present application further provides a chip, the chip including a programmable logic circuit or a program, and the chip is used to implement the control method of the robotic arm provided in the above-mentioned method embodiments.
  • the embodiment of the present application also provides a computer program product, which includes computer instructions, and the computer instructions are stored in a computer-readable storage medium.
  • the processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the control method of the robot arm described in any of the above embodiments.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

La demande concerne un procédé de commande d'un bras mécanique. Un objet mobile est placé à n'importe quelle position, autre qu'au niveau d'une extrémité arrière, sur un bras mécanique. Le procédé, qui est exécuté par un dispositif de commande, consiste à : acquérir un système dynamique construit au moins selon un bras mécanique, et obtenir des informations de pose à partir du système dynamique ; déterminer des informations de commande du bras mécanique sur la base des informations de pose, et des informations de pose attendues du système dynamique, les informations de pose attendues étant utilisées pour indiquer des informations de pose qui permettent à un objet mobile de rester en équilibre sur le bras mécanique ; et à l'aide des informations de commande, commander le mouvement du bras mécanique jusqu'à ce que l'objet mobile atteigne un état équilibré sur le bras mécanique. La présente demande concerne en outre un appareil de commande d'un bras mécanique, et un dispositif et un support de stockage.
PCT/CN2023/085710 2023-03-31 2023-03-31 Procédé et appareil de commande de bras mécanique, et dispositif et support de stockage Ceased WO2024197902A1 (fr)

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Citations (6)

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Publication number Priority date Publication date Assignee Title
JPH1133952A (ja) * 1997-07-18 1999-02-09 Yaskawa Electric Corp ロボットの制御方法、ロボットおよび把持物体の位置、姿勢修正方法
US20050104548A1 (en) * 2002-05-01 2005-05-19 Toru Takenaka Attitude control device of mobile robot
US20100250001A1 (en) * 2009-03-24 2010-09-30 Disney Enterprises Systems and methods for tracking and balancing robots for imitating motion capture data
CN112558621A (zh) * 2019-09-26 2021-03-26 西南科技大学 一种基于解耦控制的飞行机械臂系统
CN112975978A (zh) * 2021-03-05 2021-06-18 深圳市优必选科技股份有限公司 多足机器人负重平衡方法、装置和多足机器人
CN113334393A (zh) * 2021-08-06 2021-09-03 成都博恩思医学机器人有限公司 一种机械臂控制方法、系统、机器人及存储介质

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1133952A (ja) * 1997-07-18 1999-02-09 Yaskawa Electric Corp ロボットの制御方法、ロボットおよび把持物体の位置、姿勢修正方法
US20050104548A1 (en) * 2002-05-01 2005-05-19 Toru Takenaka Attitude control device of mobile robot
US20100250001A1 (en) * 2009-03-24 2010-09-30 Disney Enterprises Systems and methods for tracking and balancing robots for imitating motion capture data
CN112558621A (zh) * 2019-09-26 2021-03-26 西南科技大学 一种基于解耦控制的飞行机械臂系统
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CN113334393A (zh) * 2021-08-06 2021-09-03 成都博恩思医学机器人有限公司 一种机械臂控制方法、系统、机器人及存储介质

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