Double arm coordination acceleration control method based on impedance model under rigidity condition

Abstract

The invention discloses a double arm coordination acceleration control method based on an impedance model under the rigidity condition. The method comprises the following steps that firstly, a robot controller collects information of a six-dimensional force sensor, filtering treatment is conducted on the collected information, then gravity compensation is conducted, and finally expected force deviation value data or expected torque value deviation value data are obtained; secondly, the force deviation value data or the torque value deviation value data are converted into the moving acceleration and the pivoting angular acceleration of a robot tail end in the Cartesian space; thirdly, a corresponding position function, a corresponding speed function, a corresponding acceleration function and a corresponding jerk function are obtained; fourthly, a joint angle function in the joint space is obtained according to the inverse kinematics; and fifthly, after isochronic synchronous interpolation of the joint space is conducted on the joint angle function, the joint angle function is sent to a servo driver through a bus of the controller, and then the action of a robot is controlled. By means of the double arm coordination acceleration control method, the real-time force tracking effect can be achieved, and the movement of the robot is smooth during following.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to a speed control method of a high-precision traction teaching robot based on an impedance model under rigid conditions. Background technique [0002] Compared with a single robot, the multi-robot collaborative system shows advantages in collaborative operation ability, adapting to complex tasks and adapting to complex environments, and it is also a very important link in co-integrated robots, which is the basis for the realization of intelligent groups. Taking multi-robot collaborative welding as an example, the core key scientific issue in multi-robot collaborative welding is: the coordination of position and force between the arms (two handling robots). There are control algorithms that are difficult to implement and so on. The traditional three intuitive solutions to solve the position force coordination between the arms are: 1) Establish the dynamic model under the closed-cha...

AI Technical Summary

Problems solved by technology

Taking multi-robot collaborative welding as an example, the core key scientific issue in multi-robot collaborative welding is: the coordination of position and force between the arms (two handling robots). There are control algorithms that are difficult to implement, etc.

However, these three schemes have the following disadvantages: ① For scheme 1 and scheme 3, most of the current research stays at the theoretical analysis stage, and the experiment also stays at the simple movement of the two-arm cooperative clamping workpiece

② For scheme 2, the mixed position / force control is only suitable for situations where a certain direction is subject to force constraints under non-strict tight coordination, such as collaborative handling, grasping and assembly tasks, and is not suitable for all six dimensions under strict tight coordination. Constrained industrial applications, such as multi-robot collaborative welding of workpieces

③ For scheme 3, the problems of poor real-time performance and difficult internal force control of the arms under strict coordination in actual control have not been solved

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