Compliance control method and system based on collaborative operation of double-arm robot

A collaborative operation and compliant control technology, applied in general control systems, control/regulation systems, program control, etc., can solve problems such as safe and reliable control methods that have not yet been proposed, and achieve the effect of reducing requirements

Active Publication Date: 2017-05-24
HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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  • Application Information

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Problems solved by technology

However, for typical tasks such as dual-arm cooperative handling of loads, especially the dual-arm cooperative motion planning and compliant operation after the dual-arm robot and the target load form a closed-chain constraint, no safe and reliable control method has been proposed.

Method used

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  • Compliance control method and system based on collaborative operation of double-arm robot
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  • Compliance control method and system based on collaborative operation of double-arm robot

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Embodiment Construction

[0031] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0032] The present invention provides a compliant control method based on the cooperative operation of dual-arm robots, which includes the following steps:

[0033] The dual-arm cooperative control module establishes a dynamic model according to the expected motion trajectory and expected force of the target load, and obtains the desired terminal pose and terminal expected force of each manipulator by satisfying the coordinated position decomposition and public force decomposition of the double-arm closed-chain constraint equation;

[0034] The single-arm control module completes the analysis and execution of the expected task instructions, obtains the expected angles of each joint of the manipulator, and realizes the force-compliant operation of the manipulator through position-based impedance control;

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Abstract

The invention discloses a compliance control method based on collaborative operation of a double-arm robot. The method comprises the steps that a double-arm collaborative control module sets up a dynamic model according to an expected motion trail of target loads and expected force to obtain tail end expected poses and tail end expected force of all mechanical arms; a single-arm control module completes analysis and execution of an expected task instruction to obtain expected angles of all joints of the mechanical arms; and a drive module drives the mechanical arms to complete the task trail according to the planned expected joint angles. The invention further provides a compliance control method based on collaborative operation of the double-arm robot. According to the scheme, master-slave mode and share-based mode strategies are adopted for carrying out public force decomposition on the loads to obtain expected operation force of two mechanical arms, and then a master-slave mode compliance control method and a share-based compliance control method for double-arm collaborative operation are provided. The method is widely applied to the double-arm collaborative control field of robot technologies.

Description

technical field [0001] The invention relates to the field of dual-arm cooperative control of robot technology, in particular to a compliance control method and system based on the cooperative operation of dual-arm robots. Background technique [0002] The operation tasks of single-arm robots are simple and lack of dexterity. Compared with traditional single-arm robots, dual-arm robots can better adapt to the workspace designed for humans in factories, and at the same time, the dual arms can complete complex operations such as assembly and handling. While dual-arm robots have high flexibility and task adaptability, they also bring more complex modeling, planning, and control issues. The research focus of the dual-arm robot is to coordinate the completion of complex tasks such as load handling and assembly, because the dual-arm robot will form a closed-chain constraint when performing coordinated operations, and there are certain errors in the modeling and control of the dual-...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1635B25J9/1682G05B2219/39109
Inventor 闫磊徐文福胡忠华梁斌
Owner HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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