Multi-arm collaborative operation compliant control method

Abstract

The invention discloses a multi-arm collaborative operation flexibility control method. The method comprises the following steps of acquiring an external force observed value of each mechanical arm ofcollaborative operation and an external force observed value of an operation object; determining the planning pose of the operation object according to the admittance model of the operation object and the external force observed value of the operation object; determining the motion decomposition relation between the mechanical arms on the basis of the position constraint between the mechanical arms, and determining the expected pose of the tail end of each mechanical arm according to the motion decomposition relation and the planning pose of the operation objects; determining the planning pose of the tail end of each mechanical arm according to the admittance model of the mechanical arms and the external force observed value of the mechanical arms; determining the expected angle of each joint on each mechanical arm according to the inverse solution of the expected pose and the planning pose of the tail end of each mechanical arm, and determining the rotation angle controlling amount of the joint according to the current angle and the expected angle of each joint. According to the multi-arm collaborative operation compliant control method, the motion coordination requirements amongthe multiple arms are comprehensively considered, and accurate and compliant control under the collaborative operation is realized.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a method for controlling compliance of multi-arm cooperative operations. Background technique [0002] The robotic arm is a multi-input multi-output, highly nonlinear, and strongly coupled complex system. Because of its unique flexibility, it is increasingly used in industrial fields. Compared with traditional single-arm robots, dual-arm robots can achieve different spatial poses and cooperate to complete various complex tasks, gradually occupying a mainstream position in industrial production. [0003] With the introduction of the concept of collaborative robots, human-machine collaborative operation scenarios are becoming more and more common. In the collaborative operation process of each mechanical arm of the dual-arm robot, it is necessary to ensure the safety of the operator, and strict dual control requirements are put forward for the position and force of each joint of ea...

AI Technical Summary

Problems solved by technology

[0004] Most of the existing dual-arm robots are composed of two independent single-arm robots. The two single-arms are controlled independently, and only one single-arm is taken into consideration as the position interference source of the other single-arm. Insufficient and difficult to meet precise operations, and prone to collisions, injuries, and property accidents, there are serious safety risks

In addition, the existing dual-arm robots generally use force sensors to achieve compliant control, which has high cost and low precision.

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