CN114260877B - Drag teaching speed limiting method, device, electronic equipment and medium for mechanical arm joints - Google Patents
Drag teaching speed limiting method, device, electronic equipment and medium for mechanical arm joints Download PDFInfo
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- CN114260877B CN114260877B CN202111567730.6A CN202111567730A CN114260877B CN 114260877 B CN114260877 B CN 114260877B CN 202111567730 A CN202111567730 A CN 202111567730A CN 114260877 B CN114260877 B CN 114260877B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with leader teach-in means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
本发明公开一种机械臂关节的拖动示教限速方法，包括：获取关节的实际拖动速度；当实际拖动速度超过预设的安全拖动速度时；通过动力学模型计算关节电机的调整力矩，调整力矩的方向与关节的当前运动方向相反；将调整力矩转换为关节电机的运动控制指令，并发送给关节电机。本发明所提出的机械臂关节的拖动示教限速方法，在对机械臂进行拖动示教时，若关节的实际拖动速度超过安全拖动速度，则关节电机将产生与拖动方向相反的阻力，以降低机械臂关节的拖动速度，防止机械臂关节的拖动速度过快，避免出现因速度过快而导致的安全风险问题。此外，本发明还公开一种机械臂关节的拖动示教限速装置、电子设备及介质。
The present invention discloses a method for teaching and limiting speed of a mechanical arm joint, comprising: obtaining the actual dragging speed of the joint; when the actual dragging speed exceeds the preset safe dragging speed; calculating the adjustment torque of the joint motor through a dynamic model, the direction of the adjustment torque is opposite to the current movement direction of the joint; converting the adjustment torque into a motion control instruction of the joint motor, and sending it to the joint motor. The method for teaching and limiting speed of a mechanical arm joint proposed by the present invention, when the mechanical arm is dragged and taught, if the actual dragging speed of the joint exceeds the safe dragging speed, the joint motor will generate resistance in the opposite direction of the dragging to reduce the dragging speed of the mechanical arm joint, prevent the mechanical arm joint from being dragged too fast, and avoid safety risks caused by excessive speed. In addition, the present invention also discloses a device for teaching and limiting speed of a mechanical arm joint, an electronic device, and a medium.
Description
The scheme is a divisional application, the application number of the main application is CN202110759410.4, the application date is 2021-07-06, and the case name is a dragging teaching speed limiting method, a dragging teaching speed limiting device, electronic equipment and a medium of a mechanical arm joint.
Technical Field
The invention relates to the field of mechanical arms, in particular to a dragging teaching speed limiting method and device for a mechanical arm joint, electronic equipment and a medium.
Background
The dragging teaching is also called manual teaching, and the teaching programming work of the mechanical arm is completed by an operator directly through a manual dragging mode, and then the mechanical arm can trigger an instruction for repeatedly executing a teaching track according to an external signal.
When dragging teaching is performed on the mechanical arm, a teaching button needs to be clicked first, so that the mechanical arm enters a dragging teaching mode. After the mechanical arm enters a dragging teaching mode, an operator drags the mechanical arm to move to a desired position, and in the dragging process of the mechanical arm, the mechanical arm can record and store the motion pose or the motion track of the mechanical arm in real time, so that the dragging teaching process of the mechanical arm is completed.
In the prior art, the mechanical arm is in a moment ring control mode, under a dragging teaching mode, the motion state of the mechanical arm joint is determined by the output moment of a motor and external dragging moment, and when the external dragging moment is overlarge, the mechanical arm joint has safety risk due to overlarge speed. In addition, when the mechanical arm joint is rapidly moved due to dragging, even if external dragging torque is stopped, the mechanical arm joint still moves for a distance at the current speed because the dynamic model of the mechanical arm joint can generate force for maintaining the current movement, and safety risks exist in the process.
Disclosure of Invention
The invention mainly aims to provide a dragging teaching speed limiting method of a mechanical arm joint, and aims to solve the problem that the existing mechanical arm joint has safety risks caused by too high speed when dragging teaching is performed.
In order to achieve the above purpose, the present invention provides a dragging teaching speed limiting method for a mechanical arm joint, including:
acquiring the actual dragging speed of the joint;
When the actual dragging speed exceeds the preset safe dragging speed;
calculating the adjusting moment of the joint motor through a dynamics model, wherein the direction of the adjusting moment is opposite to the current movement direction of the joint;
and converting the adjusting moment into a motion control instruction of the joint motor and transmitting the motion control instruction to the joint motor.
The dragging teaching speed limiting method of the mechanical arm joint further comprises the following steps:
setting a speed threshold of a joint when the mechanical arm performs dragging teaching;
And (3) carrying out speed synthesis on the set speed threshold and the current movement direction of the joint to obtain the safe dragging speed of the joint.
When the actual dragging speed is less than or equal to the safe dragging speed, the dragging teaching speed limiting method of the mechanical arm joint further comprises the following steps:
Calculating to obtain a theoretical moment of the joint based on the dynamics model and the actual dragging speed of the joint;
determining a moment constraint range of the joint according to the theoretical moment of the joint and the current speed direction of the joint;
and carrying out saturation adjustment on the output torque according to the torque constraint range.
Wherein, according to the theoretical moment of the joint and the current speed direction thereof, determining the moment constraint range of the joint comprises:
if the direction of the theoretical moment and the actual dragging speed is positive, determining the moment constraint range of the joint to be [0, T 1 ];
If the direction of the theoretical moment and the actual dragging speed is negative, determining the moment constraint range of the joint to be [ -T 1, 0];
if the direction of the theoretical moment is positive and the direction of the actual dragging speed is negative, determining the moment constraint range of the joint to be [ T 1,T2 ];
If the direction of the theoretical moment is negative and the direction of the actual dragging speed is positive, determining the moment constraint range of the joint to be [ -T 2,-T1 ];
T 1 is the theoretical moment of the joint, T 2 is the rated moment of the joint motor, T 1 is smaller than T 2, T 1 and T 2 are positive values, and the positive and negative directions of the moment and the speed take the zero point of the joint as a reference.
Wherein, saturation adjustment of the output torque according to the torque constraint range includes:
When the torque constraint range of the joint is [0, T 1 ] and the direction of the output torque is positive, the output torque is regulated to be T 1 if the output torque is larger than T 1, and the output torque is not required to be regulated if the output torque is smaller than or equal to T 1;
When the torque constraint range of the joint is [ -T 1, 0] and the direction of the output torque is negative, the output torque does not need to be regulated if the output torque is larger than-T 1, and the output torque is regulated to be-T 1 if the output torque is smaller than or equal to-T 1;
When the torque constraint range of the joint is [ T 1,T2 ] and the direction of the output torque is positive, the output torque does not need to be adjusted if the output torque is larger than T 1 and smaller than T 2, the output torque is adjusted to be T 1 if the output torque is smaller than T 1, and the output torque is adjusted to be T 2 if the output torque is larger than T 2;
When the torque constraint range of the joint is [ -T 2,-T1 ] and the direction of the output torque is negative, the output torque does not need to be adjusted if the output torque is larger than-T 2 and smaller than-T 1, the output torque is adjusted to be-T 2 if the output torque is smaller than-T 2, and the output torque is adjusted to be-T 1 if the output torque is larger than-T 1.
The invention also provides a dragging teaching speed limiting device of the mechanical arm joint, which comprises:
the speed acquisition module is used for acquiring the actual dragging speed of the joint;
The adjusting moment module is used for calculating the adjusting moment of the joint motor through the dynamics model when the actual dragging speed exceeds the preset safe dragging speed, and the direction of the adjusting moment is opposite to the current movement direction of the joint;
The command generation module is used for converting the adjustment torque into a motion control command of the joint motor and sending the motion control command to the joint motor.
Wherein, dragging teaching speed limiter of arm joint still includes:
The speed setting module is used for setting a speed threshold value of the joint when the mechanical arm performs dragging teaching;
and the speed synthesis module is used for carrying out speed synthesis on the set speed threshold value and the current movement direction of the joint to obtain the safe dragging speed of the joint.
Wherein, dragging teaching speed limiter of arm joint still includes:
The theoretical moment module is used for calculating and obtaining the theoretical moment of the joint based on the dynamics model and the actual dragging speed of the joint;
the moment constraint module is used for determining a moment constraint range of the joint according to the theoretical moment of the joint and the current speed direction of the joint;
and the moment adjusting module is used for carrying out saturation adjustment on the output moment according to the moment constraint range.
The invention also proposes an electronic device comprising:
a memory for storing a computer program;
And the processor is used for realizing the dragging teaching speed limiting method of the mechanical arm joint when executing the computer program, and the dragging teaching speed limiting method of the mechanical arm joint at least comprises the following steps:
acquiring the actual dragging speed of the joint;
When the actual dragging speed exceeds the preset safe dragging speed;
calculating the adjusting moment of the joint motor through a dynamics model, wherein the direction of the adjusting moment is opposite to the current movement direction of the joint;
and converting the adjusting moment into a motion control instruction of the joint motor and transmitting the motion control instruction to the joint motor.
The invention also provides a medium storing a computer program, which when executed by a processor, realizes the dragging teaching speed limiting method of the mechanical arm joint, and the dragging teaching speed limiting method of the mechanical arm joint at least comprises the following steps:
acquiring the actual dragging speed of the joint;
When the actual dragging speed exceeds the preset safe dragging speed;
calculating the adjusting moment of the joint motor through a dynamics model, wherein the direction of the adjusting moment is opposite to the current movement direction of the joint;
and converting the adjusting moment into a motion control instruction of the joint motor and transmitting the motion control instruction to the joint motor.
Compared with the prior art, the embodiment of the invention has the beneficial technical effects that:
When dragging teaching is carried out on the mechanical arm, whether the actual dragging speed of each joint of the mechanical arm exceeds the preset safe dragging speed is judged, wherein each joint of the mechanical arm corresponds to one preset safe dragging speed. If the speed does not exceed the safe dragging speed, the mechanical arm joint does not need to be limited, if the speed exceeds the safe dragging speed, the adjusting moment of the joint motor of the mechanical arm joint is calculated through a dynamic model, the direction of the adjusting moment is opposite to the current movement direction (dragging direction) of the joint, and the opposite adjusting moment enables the joint motor to generate resistance opposite to the dragging direction, so that the dragging speed of the mechanical arm joint is reduced, the dragging speed of the mechanical arm joint is prevented from being too high, and the safety risk problem caused by too high speed is avoided.
Drawings
Fig. 1 is a schematic flow chart of a dragging teaching speed limiting method of a mechanical arm joint in an embodiment of the invention;
FIG. 2 is a schematic view of joint speed limiting in accordance with one embodiment of the present invention;
fig. 3 is a flow chart of a dragging teaching speed limiting method of a mechanical arm joint according to an embodiment of the invention;
fig. 4 is a schematic structural diagram of a dragging teaching speed limiting device of a mechanical arm joint according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a dragging teaching speed limiting device of a mechanical arm joint according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below are exemplary and intended to illustrate the present invention and should not be construed as limiting the invention, and all other embodiments, based on the embodiments of the present invention, which may be obtained by persons of ordinary skill in the art without inventive effort, are within the scope of the present invention.
The dragging teaching speed limiting method of the mechanical arm joint is suitable for multi-joint robots, such as three-axis joint robots, four-axis joint robots, five-axis joint robots, six-axis joint robots, seven-axis joint robots and the like. The multi-joint robot comprises a main controller and a plurality of joints respectively connected with the main controller in a communication way, wherein each joint is internally provided with a joint controller, a joint motor, an encoder and the like, the encoder comprises a code disc and a reading head, the code disc is sleeved on a motor shaft of the joint motor and rotates along with the motor shaft, the reading head is used for reading data on the code disc and sending the data to the joint controller or the main controller, so that the joint controller or the main controller can calculate the rotation speed and the position of the joint according to the received data, namely, the rotation speed of the joint can be detected in real time through the encoder.
The invention provides a dragging teaching speed limiting method of a mechanical arm joint, which is characterized in that when the actual dragging speed of each joint exceeds the safe dragging speed, an adjusting moment opposite to the dragging direction of the joint is generated through a joint motor of the joint to limit the dragging speed of the joint, so that the dragging speed of the joint is prevented from being too high, namely, a resistance is applied to the joint dragged by overspeed.
Referring to fig. 1, fig. 1 is a flow chart of a dragging teaching speed limiting method of a mechanical arm joint in an embodiment of the invention, which includes the following steps:
s10, acquiring the actual dragging speed of the joint;
in this embodiment, the dragging speed of the joint refers to the speed of the joint in the joint space, which is substantially the rotational speed of the joint motor, and the speed direction of the joint motor is referenced to the forward and reverse rotation of the joint motor, for example, the joint motor rotates forward and reverse.
The actual dragging speed of the joints refers to the rotating speed of the joint motor during rotation, wherein the actual dragging speeds of the joints of the mechanical arm are different, and a six-axis mechanical arm is taken as an example. Assuming that the actual dragging speed of the first joint of the six-axis mechanical arm is 30 °/s, the actual dragging speed of the second joint may be 35 °/s, the actual dragging speed of the third joint may be 40 °/s, the actual dragging speed of the fourth joint may be 45 °/s, the actual dragging speed of the fifth joint may be 50 °/s, and the actual dragging speed of the sixth joint may be 60 °/s.
When dragging teaching is carried out, the encoder of each joint detects the rotation data of the joint motor, then the joint controller of the corresponding joint can process the rotation data to calculate and obtain the rotation speed of the joint motor, namely the actual dragging speed of the joint, and then the calculated actual dragging speed of the joint is sent to the main controller of the mechanical arm. In addition, the rotation data detected by the encoder can also be directly sent to the main controller, so that the main controller can calculate the actual dragging speed of the joint according to the rotation data.
S20, when the actual dragging speed exceeds the preset safe dragging speed, calculating the adjusting moment of the joint motor through a dynamics model, wherein the direction of the adjusting moment is opposite to the current movement direction of the joint;
in some embodiments, after the actual dragging speed of the joint is obtained, it is determined whether the joint needs to be speed-limited based on the actual dragging speed and the corresponding safe dragging speed. Specifically, if the actual dragging speed exceeds the preset safe dragging speed, the joint is required to be limited, and if the actual dragging speed does not exceed the preset safe dragging speed, the joint is not required to be limited.
Because the actual dragging speeds of all joints of the mechanical arm are different, when the mechanical arm is used for dragging teaching, the speed of all joints needs to be limited respectively, so that the actual dragging speed of all joints is smaller than the respective safe dragging speed, and if the actual dragging speed of any joint exceeds the preset safe dragging speed, the mechanical arm still has the safety risk problem.
In addition, the safe dragging speeds of the joints are also different, and the six-axis mechanical arm is taken as an example, and assuming that the safe dragging speed threshold of the first joint is 40 °/s, the safe dragging speed threshold of the second joint may be 45 °/s, the safe dragging speed threshold of the third joint is 50 °/s, the safe dragging speed threshold of the fourth joint is 55 °/s, the safe dragging speed threshold of the fifth joint is 60 °/s, and the safe dragging speed threshold of the sixth joint is 70 °/s.
Referring to fig. 2, fig. 2 is a schematic diagram illustrating a mechanical arm joint speed limiting according to an embodiment of the invention.
In this embodiment, when the actual dragging speed exceeds the safe dragging speed, the dynamics model is used to calculate the adjustment torque of the joint motor, wherein the direction of the adjustment torque is opposite to the current movement direction (dragging direction) of the joint, and the resultant force shown in fig. 2 is the resultant force of the dragging torque and the adjustment torque.
S30, converting the adjusting moment into a motion control instruction of the joint motor, and sending the motion control instruction to the joint motor.
The adjusting moment is converted into a motion control instruction of the joint motor, and the joint motor generates resistance opposite to the dragging direction of the joint according to the control instruction, so that the actual dragging speed of the joint is reduced through the resistance, the speed limiting purpose is achieved, and the safety of the mechanical arm during dragging teaching is improved.
The dragging mechanical arm is used for dragging teaching, in the dragging process, the encoder of each joint detects the rotation data of the corresponding joint motor in real time, and then the joint controller or the main controller processes the rotation data to calculate and obtain the rotation speed of the joint motor, namely the actual dragging speed of the joint. Assuming that the actual dragging speed of a certain joint is +45°/s, the corresponding safe dragging speed is +40°/s, + represents the positive rotation of the joint motor of the joint (assuming positive rotation to be positive direction), that is, the rotation direction of the joint motor, and 45 °/s represents the rotation speed of the joint motor, that is, the rotation speed of the joint motor is 45 ° per second. At this time, the actual dragging speed of the joint is +45°/s, which is greater than the safe dragging speed of the joint +40°/s, and then an adjustment torque of the joint motor is calculated by the dynamics model, the direction of the adjustment torque is opposite to the rotation direction of the joint motor, and the calculated adjustment torque is assumed to be-60N. After the adjustment moment is calculated, the adjustment moment is converted into a motion control instruction of the joint motor, the joint motor controls the joint motor to rotate according to the motion control instruction, so that the rotation speed of the joint motor is reduced under the action of the adjustment moment, and particularly the rotation speed of the joint motor can be reduced to be lower than +40 degrees/s, so that the dragging speed of a joint is prevented from being too high, the occurrence of safety risks is avoided, and the safety of the mechanical arm during dragging teaching is improved.
Further, before the speed of each joint of the mechanical arm is limited, the safe dragging speed of each joint needs to be set, the speed of the safe dragging speed is set according to the actual situation, and the speed direction of the safe dragging speed is the same as the current movement direction (dragging direction) of the joint.
Specifically, referring to fig. 3, fig. 3 is a flow chart of a dragging teaching speed limiting method of a mechanical arm joint in an embodiment of the invention, which includes the following steps:
s1, setting a speed threshold of a joint when the mechanical arm performs dragging teaching;
s2, combining the set speed threshold value with the current movement direction of the joint to obtain the safe dragging speed of the joint during dragging teaching.
Each joint is correspondingly set with a speed threshold, namely the maximum dragging speed of the joint, after the speed threshold is set, the current movement direction (dragging direction) of the joint is obtained through an encoder, and then the speed threshold and the movement direction of the joint are combined to obtain the safe dragging speed of the joint. The motion direction of the joint is referenced to the zero point of the joint, and assuming that the joint motor rotates positively (clockwise rotation) and negatively (counterclockwise rotation), the zero point corresponds to the origin of the two-dimensional rectangular coordinate system.
For example, assuming that the velocity threshold of a certain joint of the mechanical arm is set to be 50 °/s, if the current motion direction of the joint is detected to be a positive direction by the encoder, the resultant safe dragging speed is +50 °/s, and if the current motion direction of the joint is detected to be a negative direction by the encoder, the resultant safe dragging speed is-50 °/s.
Further, the motion of the mechanical arm is generated under the combined action of the external dragging torque and the output torque of the joint motor, and when each joint of the mechanical arm moves, the kinetic model can calculate a theoretical torque for maintaining the current motion of each joint, namely, the external dragging torque and the output torque=the theoretical torque. In order to ensure the controllability of the mechanical arm, the output torque of the joint motor cannot exceed the theoretical torque calculated by the dynamics model, if the output torque of the joint motor exceeds the theoretical torque, when dragging is stopped (the external dragging torque is zero), the joint still moves under the action of the combined force of the two because the output torque of the joint motor is larger than the theoretical torque, the joint cannot be stopped when the hand is released, and the problem of safety risk easily occurs.
Therefore, the invention restrains the output moment of the joint motor of each joint so that the output moment of the joint motor is smaller than the theoretical moment calculated by the dynamics model.
Specifically, referring to fig. 3, fig. 3 is a flowchart of a method for limiting speed by dragging a teaching arm according to an embodiment of the present invention, including the following steps:
S40, calculating to obtain the theoretical moment of the joint based on the dynamic model and the actual dragging speed of the joint;
when the actual dragging speed of the joint is smaller than or equal to the safe dragging speed, the theoretical moment of the joint can be calculated based on the dynamic model and the actual dragging speed.
S50, determining a moment constraint range of the joint according to the theoretical moment of the joint and the current speed direction of the joint;
After the theoretical moment of the joint is calculated, the moment constraint range of the joint is determined according to the theoretical moment and the current speed direction of the joint, and the theoretical moment and the speed direction take the zero calibration direction of the joint as a reference, which is specifically described in the foregoing embodiments, so that details are not repeated here.
And S60, carrying out saturation adjustment on the output torque according to the torque constraint range.
After the moment constraint range is determined, saturation adjustment is carried out on the output moment according to the moment constraint range, so that the output moment of the joint motor is always smaller than the theoretical moment, and each joint of the mechanical arm can stop moving after the hand is loosened.
For example, assuming that the torque constraint range determined in steps S40 and S50 is [0,100], if the output torque calculated in the next time is 80N, the output torque can be directly converted into the motion control command of the joint motor without adjusting the output torque, and if the output torque calculated in the next time is 110N, the output torque needs to be adjusted to 100N at this time, and then the adjusted output torque is converted into the motion control command of the joint.
Further, the specific determination method of the moment constraint range provided by the invention is as follows:
if the direction of the theoretical moment and the actual dragging speed is positive, determining the moment constraint range of the joint to be [0, T 1 ];
If the direction of the theoretical moment and the actual dragging speed is negative, determining the moment constraint range of the joint to be [ -T 1, 0];
if the direction of the theoretical moment is positive and the direction of the actual dragging speed is negative, determining the moment constraint range of the joint to be [ T 1,T2 ];
If the direction of the theoretical moment is negative and the direction of the actual dragging speed is positive, determining the moment constraint range of the joint to be [ -T 2,-T1 ];
Wherein T 1 is the theoretical moment of the joint, T 2 is the rated moment of the servo motor, T 1 is smaller than T 2, T 1 and T 2 are positive values, and the positive and negative directions of the moment and the speed take the zero point of the joint as a reference.
The method comprises the steps of assuming that T 1 is 100N, T 2 is 150N, the actual dragging speed is 50 degrees/s, the joint motor rotates positively (rotates clockwise) and reversely, determining the directions of the theoretical moment and the actual dragging speed, and determining the moment constraint range of the joint according to the directions of the theoretical moment and the actual dragging speed.
Specifically, if the theoretical torque is +100N and the actual dragging speed is +50 DEG/s, the torque constraint range of the joint is determined to be [0,100], if the theoretical torque is-100N and the actual dragging speed is-50 DEG/s, the torque constraint range of the joint is determined to be [ -100,0], if the theoretical torque is +100N and the actual dragging speed is-50 DEG/s, the torque constraint range of the joint is determined to be [100,150], and if the theoretical torque is-100N and the actual dragging speed is +50 DEG/s, the torque constraint range of the joint is determined to be [ -150, -100].
Furthermore, the specific output torque adjusting method provided by the invention comprises the following steps:
When the torque constraint range of the joint is [0, T 1 ] and the output torque is positive, if the output torque is greater than T 1, the output torque is regulated to be T 1, and if the output torque is less than or equal to T 1, the output torque is not required to be regulated;
When the torque constraint range of the joint is [ -T 1, 0] and the output torque is negative, the output torque does not need to be regulated if the output torque is larger than-T 1, and the output torque is regulated to be-T 1 if the output torque is smaller than or equal to-T 1;
When the torque constraint range of the joint is [ T 1,T2 ] and the output torque is positive, the output torque does not need to be adjusted if the output torque is larger than T 1 and smaller than T 2, the output torque is adjusted to be T 1 if the output torque is smaller than T 1, and the output torque is adjusted to be T 2 if the output torque is larger than T 2;
When the torque constraint range of the joint is [ -T 2,-T1 ] and the output torque is negative, the output torque does not need to be adjusted if the output torque is larger than-T 2 and smaller than-T 1, the output torque is adjusted to be-T 2 if the output torque is smaller than-T 2, and the output torque is adjusted to be-T 1 if the output torque is larger than-T 1.
Assuming that T 1 is 100N, T 2 is 150N, the actual dragging speed is 50 DEG/s, the joint motor rotates positively (rotates clockwise) and reversely, the joint motor rotates reversely (rotates anticlockwise), the direction of the theoretical moment and the actual dragging speed is judged firstly, then the moment constraint range of the joint is determined according to the direction of the theoretical moment and the actual dragging speed, and then the output moment calculated next time is regulated according to the moment constraint range, specifically:
When the torque constraint range of the joint is [0,100] and the direction of the output torque is positive:
If the output torque obtained by the next calculation is +120N, the output torque is regulated to +100deg.N, and if the output torque obtained by the next calculation is +90N, the output torque is not required to be regulated;
when the torque constraint range of the joint is [ -100,0] and the direction of the output torque is negative:
If the output torque obtained by the next calculation is-90N, the output torque is not required to be regulated, and if the output torque obtained by the next calculation is-120N, the output torque is regulated to be-100;
When the torque constraint range of the joint is [100,150] and the direction of the output torque is positive:
If the output torque calculated next time is +120N, the output torque is not required to be adjusted, if the output torque calculated next time is 90N, the output torque is adjusted to be 100N, and if the output torque calculated next time is 160N, the output torque is adjusted to be 150N.
When the torque constraint range of the joint is [ -150, -100] and the direction of the output torque is negative:
If the output torque obtained by the next calculation is-120N, the output torque is not required to be adjusted, if the output torque obtained by the next calculation is-90N, the output torque is adjusted to be-100N, and if the output torque obtained by the next calculation is-160N, the output torque is adjusted to be-150N.
Referring to fig. 4, fig. 4 is a schematic structural diagram of a dragging teaching speed limiting device of a mechanical arm joint according to an embodiment of the present invention, including:
a speed acquisition module 10, configured to acquire an actual dragging speed of the joint;
The adjusting moment module 20 is used for calculating the adjusting moment of the joint motor through the dynamics model when the actual dragging speed exceeds the preset safe dragging speed, and the direction of the adjusting moment is opposite to the current movement direction of the joint;
The command generating module 30 is configured to convert the adjustment torque into a motion control command of the joint motor, and send the motion control command to the joint motor.
Furthermore, the dragging teaching speed limiting device of the mechanical arm joint provided by the invention further comprises:
The speed setting module is used for setting a speed threshold value of the joint when the mechanical arm performs dragging teaching;
And the speed synthesis module is used for carrying out speed synthesis on the set speed threshold and the current movement direction of the joint to obtain the safe dragging speed of the joint during dragging teaching.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a mechanical arm dragging teaching speed limiting device according to an embodiment of the present invention, and further includes:
A theoretical moment module 40, configured to calculate a theoretical moment of the joint based on the dynamics model and an actual dragging speed of the joint;
The moment constraint module 50 is used for determining a moment constraint range of the joint according to the theoretical moment of the joint and the current speed direction of the joint;
The torque adjustment module 60 is configured to saturation adjust the output torque according to the torque constraint range.
Based on the dragging teaching speed limiting method of the mechanical arm joint, the invention also provides electronic equipment, which comprises:
a memory for storing a computer program;
and a processor, configured to implement the dragging teaching speed limiting method of the robotic arm joint according to the foregoing embodiments when executing the computer program, where the dragging teaching speed limiting method of the robotic arm joint at least includes the following steps:
step1, acquiring the actual dragging speed of a joint;
Step 2, calculating the adjusting moment of the joint motor through a dynamics model when the actual dragging speed exceeds the preset safe dragging speed, wherein the direction of the adjusting moment is opposite to the current movement direction of the joint;
And step3, converting the adjusting moment into a motion control instruction of the joint motor, and transmitting the motion control instruction to the joint motor.
Based on the aforementioned method for limiting the speed of dragging teaching of the mechanical arm joint, the invention also provides a medium storing a computer program, which when executed by a processor, implements the method for limiting the speed of dragging teaching of the mechanical arm joint described in the foregoing embodiments, and the method for limiting the speed of dragging teaching of the mechanical arm joint at least comprises the following steps:
step1, acquiring the actual dragging speed of a joint;
Step 2, calculating the adjusting moment of the joint motor through a dynamics model when the actual dragging speed exceeds the preset safe dragging speed, wherein the direction of the adjusting moment is opposite to the current movement direction of the joint;
And step3, converting the adjusting moment into a motion control instruction of the joint motor, and transmitting the motion control instruction to the joint motor.
In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, and for example, the division of the modules is merely a logical function division, and there may be additional divisions when actually implemented, for example, multiple modules or components may be combined or integrated into another apparatus, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or modules, which may be in electrical, mechanical, or other forms.
The modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical modules, i.e., may be located in one place, or may be distributed over a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, or each module may exist alone physically, or two or more modules may be integrated into one module. The integrated modules may be implemented in hardware or in software functional modules.
The integrated modules, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. The storage medium includes a U disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, an optical disk, or other various media capable of storing program codes.
The above description of the preferred embodiments of the present invention should not be taken as limiting the scope of the invention, but rather should be understood to cover all modifications, variations and adaptations of the present invention using its general principles and the following detailed description and the accompanying drawings, or the direct/indirect application of the present invention to other relevant arts and technologies.
Claims (11)
1. The dragging teaching control method of the mechanical arm joint is characterized by comprising the following steps of:
Acquiring the rotating speed of a joint motor;
When the rotating speed of the joint motor is smaller than or equal to a preset safe dragging speed, calculating to obtain the theoretical moment of the joint motor based on a dynamics model and the rotating speed of the joint motor;
determining a moment constraint range of the joint motor according to the theoretical moment of the joint motor and the current speed direction of the joint motor;
judging that the output torque of the joint motor exceeds the torque constraint range of the joint motor;
adjusting the output torque of the joint motor according to the torque constraint range of the joint motor;
The determining the torque constraint range of the joint motor according to the theoretical torque of the joint motor and the current speed direction of the joint motor comprises the following steps:
If the theoretical moment of the joint motor and the speed direction of the joint motor are positive, determining that the moment constraint range of the joint motor is [0, T 1 ];
if the theoretical moment of the joint motor and the speed direction of the joint motor are both negative, determining that the moment constraint range of the joint motor is [ -T 1, 0];
if the direction of the theoretical torque of the joint motor is positive and the speed direction of the joint motor is negative, determining that the torque constraint range of the joint motor is [ T 1,T2 ];
If the direction of the theoretical torque of the joint motor is negative and the speed direction of the joint motor is positive, determining that the torque constraint range of the joint motor is [ -T 2,-T1 ];
The mechanical arm comprises a mechanical arm joint, a T 1, a T 2 and a T 1, wherein the T 1 is a theoretical moment of the mechanical arm joint, the T 2 is a rated moment of the mechanical arm joint, the T 1 is smaller than the T 2, the T 1 and the T 2 are positive values, and positive and negative directions of the theoretical moment, the rated moment and the speed of the mechanical arm joint take a zero point of the mechanical arm joint as a reference.
2. The method for controlling drag teaching of a robot arm joint according to claim 1, wherein,
The adjusting the output torque of the joint motor according to the torque constraint range of the joint motor comprises:
And when the torque constraint range of the joint motor is [0, T 1 ] and the direction of the output torque of the joint motor is positive, if the output torque of the joint motor is greater than T 1, adjusting the output torque of the joint motor to be T 1.
3. The method for controlling drag teaching of a robot arm joint according to claim 1, wherein,
The adjusting the output torque of the joint motor according to the torque constraint range of the joint motor comprises:
When the torque constraint range of the joint motor is [ -T 1, 0] and the direction of the output torque of the joint motor is negative, if the output torque of the joint motor is less than or equal to-T 1, the output torque of the joint motor is regulated to be-T 1.
4. The method for controlling drag teaching of a robot arm joint according to claim 1, wherein,
The adjusting the output torque of the joint motor according to the torque constraint range of the joint motor comprises:
When the torque constraint range of the joint motor is [ T 1,T2 ] and the direction of the output torque of the joint motor is positive, the output torque of the joint motor is regulated to be T 1 if the output torque of the joint motor is smaller than T 1, and the output torque of the joint motor is regulated to be T 2 if the output torque of the joint motor is larger than T 2.
5. The method for controlling drag teaching of a robot arm joint according to claim 1, wherein,
The adjusting the output torque of the joint motor according to the torque constraint range of the joint motor comprises:
When the torque constraint range of the joint motor is [ -T 2,-T1 ] and the direction of the output torque is negative, the output torque of the joint motor is regulated to be-T 2 if the output torque of the joint motor is smaller than-T 2, and the output torque of the joint motor is regulated to be-T 1 if the output torque of the joint motor is larger than-T 1.
6. A drag teaching control device of a robot arm joint, comprising:
a memory for storing executable program instructions;
a processor executing the executable program instructions to perform the steps of:
Acquiring the rotating speed of a joint motor;
When the rotating speed of the joint motor is smaller than or equal to a preset safe dragging speed, calculating to obtain the theoretical moment of the joint motor based on a dynamics model and the rotating speed of the joint motor;
determining a moment constraint range of the joint motor according to the theoretical moment of the joint motor and the current speed direction of the joint motor;
judging that the output torque of the joint motor exceeds the torque constraint range of the joint motor;
adjusting the output torque of the joint motor according to the torque constraint range of the joint motor;
The determining the torque constraint range of the joint motor according to the theoretical torque of the joint motor and the current speed direction of the joint motor comprises the following steps:
If the theoretical moment of the joint motor and the speed direction of the joint motor are positive, determining that the moment constraint range of the joint motor is [0, T 1 ];
if the theoretical moment of the joint motor and the speed direction of the joint motor are both negative, determining that the moment constraint range of the joint motor is [ -T 1, 0];
if the direction of the theoretical torque of the joint motor is positive and the speed direction of the joint motor is negative, determining that the torque constraint range of the joint motor is [ T 1,T2 ];
If the direction of the theoretical torque of the joint motor is negative and the speed direction of the joint motor is positive, determining that the torque constraint range of the joint motor is [ -T 2,-T1 ];
The mechanical arm comprises a mechanical arm joint, a T 1, a T 2 and a T 1, wherein the T 1 is a theoretical moment of the mechanical arm joint, the T 2 is a rated moment of the mechanical arm joint, the T 1 is smaller than the T 2, the T 1 and the T 2 are positive values, and positive and negative directions of the theoretical moment, the rated moment and the speed of the mechanical arm joint take a zero point of the mechanical arm joint as a reference.
7. The robot arm joint drag teaching control device according to claim 6, wherein the processor when executing the executable program instructions further performs the steps of:
And when the torque constraint range of the joint motor is [0, T 1 ] and the direction of the output torque of the joint motor is positive, if the output torque of the joint motor is greater than T 1, adjusting the output torque of the joint motor to be T 1.
8. The robot arm joint drag teaching control device according to claim 6, wherein the processor when executing the executable program instructions further performs the steps of:
When the torque constraint range of the joint motor is [ -T 1, 0] and the direction of the output torque of the joint motor is negative, if the output torque of the joint motor is less than or equal to-T 1, the output torque of the joint motor is regulated to be-T 1.
9. The robot arm joint drag teaching control device according to claim 6, wherein the processor when executing the executable program instructions further performs the steps of:
When the torque constraint range of the joint motor is [ T 1,T2 ] and the direction of the output torque of the joint motor is positive, the output torque of the joint motor is regulated to be T 1 if the output torque of the joint motor is smaller than T 1, and the output torque of the joint motor is regulated to be T 2 if the output torque of the joint motor is larger than T 2.
10. The robot arm joint drag teaching control device according to claim 6, wherein the processor when executing the executable program instructions further performs the steps of:
When the torque constraint range of the joint motor is [ -T 2,-T1 ] and the direction of the output torque is negative, the output torque of the joint motor is regulated to be-T 2 if the output torque of the joint motor is smaller than-T 2, and the output torque of the joint motor is regulated to be-T 1 if the output torque of the joint motor is larger than-T 1.
11. A readable storage medium storing executable program instructions which, when executed by a processor, implement the drag teaching control method of the robot arm joint according to any one of claims 1 to 5.
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| CN202111567730.6A CN114260877B (en) | 2021-07-06 | 2021-07-06 | Drag teaching speed limiting method, device, electronic equipment and medium for mechanical arm joints |
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| CN116512225B (en) * | 2023-06-16 | 2024-10-25 | 北京敏锐达致机器人科技有限责任公司 | Robot dragging teaching method, device, electronic device and readable storage medium |
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| CN113246107B (en) | 2022-01-11 |
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