Robot joint control system based on position and torque sensor

Abstract

The invention provides a robot joint control system based on a position and torque sensor, and relates to the technical field of robot control, the robot joint control system is characterized in that the robot joint control system comprises a trunk and supporting legs, the trunk comprises a shell, a fixing frame and a battery pack, the battery pack is located on the inner side of the fixing frame, and through holes are symmetrically formed in the two ends of the fixing frame; the trunk connecting structure is used for fixing the trunk connecting structure, the supporting legs are located on the two sides of the trunk and rotationally connected with the trunk connecting structure through leg connecting structures, each supporting leg comprises a mounting plate and a connecting rod, and a driving assembly is arranged in each mounting plate and rotationally connected with the corresponding leg connecting structure; a connecting shaft is arranged at the upper end of the connecting rod, is rotationally connected with the mounting plate and is matched with the linkage rod to perform leg movement; a dynamic balance control algorithm can be operated in cooperation with the planning evaluation module, the control module, the whole-body controller and the low-level torque controller, and robot posture self-adaption is achieved. The method has the advantages that the operation efficiency of the robot is improved, and the corresponding operation pressure is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot control, in particular to a robot joint control system based on position and torque sensors. BACKGROUND

[0002] With the development and wide application of robot technology, the related control system has also been developed and improved accordingly. In the current common control system, most of them are connected independently by multiple sensors and control structures to quickly respond to different emergencies and call corresponding gait programs. Although this control method can quickly and stably adjust the posture of the robot, it will also affect the coherence of the overall action, resulting in low moving efficiency. At the same time, the data processing pressure of the device is large, and the workload of manual data adjustment and screening is large, especially under various environmental conditions, the overall data processing cost is higher, so it cannot meet the existing use requirements. SUMMARY

[0003] The purpose of the present application is to provide a robot joint control system based on position and torque sensors, which solves the technical problems of poor robot posture adjustment efficiency and large data processing pressure in the prior art, and achieves the technical effects of improving the autonomous posture adjustment efficiency of the robot and reducing the data processing pressure.

[0004] In order to achieve the above-mentioned application purposes, the technical scheme adopted by the present application is:

[0005] A robot joint control system based on position and torque sensors, comprising a torso and a support leg, the torso comprising an outer shell, a fixing frame and a battery pack, the overall shape of the outer shell is a cuboid, the fixing frame is located on the inner side of the outer shell and is detachably connected through bolts, the battery pack is located on the inner side of the fixing frame, the outer side of the battery pack is sleeved with a partition layer, the partition layer is detachably connected with the fixing frame through bolts, both ends of the fixing frame are symmetrically provided with through holes for fixing the torso connecting structure, both ends of the torso are respectively provided with a front end cover and a tail end cover and are fixedly connected with the torso through a connecting plate, the support leg is located on both sides of the torso and is rotatably connected with the torso connecting structure through a leg connecting structure, the support leg comprises a mounting plate and a connecting rod, the mounting plate is rotatably connected with the leg connecting structure through a driving assembly in the inside of the mounting plate, the upper end of the connecting rod is rotatably connected with the mounting plate through a connecting shaft and cooperates with a linkage rod to move the leg.

[0006] As an improvement, the inside of the trunk is provided with a control information processing unit and a data recognition processing module, which transmits signals to multiple motors in the trunk connecting structure and the leg connecting structure, so as to judge the running state of the corresponding device, and multiple groups of sensors are arranged in the trunk and the mounting plate, which are connected with the control information processing unit for dynamic sensing.

[0007] As an improvement, a planning evaluation module and a control module are further included, the planning evaluation module includes a motion planner and a state estimator, the motion planner receives control signals, identifies subsequent gaits according to task requirements, and determines subsequent driver code to be transmitted to each motor mechanism, the motion planner identifies data uploaded by the sensor in real time, the data includes the position of the gravity center, the external road condition and the external impact influence, and the corresponding program is timely called for body stabilization.

[0008] As an improvement, the state estimator obtains the current robot leg position, posture, speed and contact force in real time through a signal transmission line, and obtains comprehensive information of the current posture and motion state of the robot through the data of the IMU, the force sensor and the visual sensor.

[0009] As an improvement, the control module includes a whole-body controller and a low-level torque controller, the whole-body controller takes the WBC framework as the core, cooperates with the motion planner and the state estimator to calculate the required control torque of each joint, and allocates task priorities according to the importance of the task to ensure stable operation of the robot.

[0010] As an improvement, the low-level torque controller identifies the corresponding control signals sent by the data transmission controller, and realizes accurate adjustment of the motor drive through the PID control method.

[0011] The robot can improve the balance adjustment efficiency by independently judging and adjusting the posture of each motion unit, reduce the direct control of the robot, reduce the calculation power consumption, directly call the corresponding gait data through the motion planner to improve the reaction speed of the robot, and efficiently detect the current motion state of the robot through the whole-body controller and the low-level torque controller, and adjust the posture in time through the motor structure. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 It is a schematic diagram of a robot assembled based on a position and torque sensor;

[0013] Figure 2 It is an exploded view of the trunk part of the robot based on the position and torque sensor;

[0014] Figure 3 This is an exploded view of the support leg portion of a robot based on position and torque sensors according to the present invention.

[0015] Figure 4 This is a flowchart of a robot joint control system based on position and torque sensors according to the present invention.

[0016] In the diagram: 1. Torso; 2. Front end cap; 3. Tail end cap; 4. Torso connection structure; 5. Leg connection structure; 6. Supporting leg;

[0017] 101. Outer casing; 102. Mounting bracket; 103. Battery pack;

[0018] 601. Mounting plate; 602. Connecting rod. Detailed Implementation

[0019] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0020] It should be noted that the terms "first" and "second" in this application are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0021] like Figures 1 to 3As shown, a robot joint control system based on position and torque sensors includes a torso 1 and supporting legs 6. The torso 1 comprises a shell 101, a mounting frame 102, and a battery pack 103. The shell 101 has an overall rectangular shape. The mounting frame 102 is located inside the shell 101 and is detachably connected by bolts. The battery pack 103 is located inside the mounting frame 102. A partition is fitted and fixed to the outside of the battery pack 103. The partition is detachably connected to the mounting frame 102 by bolts. The two ends of the mounting frame 102 are... The robot is equipped with through holes for fixing the torso connection structure 4. The torso 1 has a front end cover 2 and a rear end cover 3 at both ends, which are fixedly connected to the torso 1 via connecting plates. Support legs 6 are located on both sides of the torso 1 and are rotatably connected to the torso connection structure 4 via leg connection structures 5. Each support leg 6 includes a mounting plate 601 and a connecting rod 602. The mounting plate 601 has a drive assembly inside that is rotatably connected to the leg connection structure 5. The upper end of the connecting rod 602 has a connecting shaft that is rotatably connected to the mounting plate 601 and works in conjunction with a linkage rod to move the legs. Environmental recognition sensor modules can be installed inside the front end cover 2 and the rear end cover 3 to further improve the robot's situational awareness of its environment.

[0022] The torso 1 internally houses a control information processing unit and a data recognition processing module. The data recognition processing module transmits signals to and identifies multiple motors in the torso connection structure 4 and the leg connection structure 5, thereby determining the operating status of the corresponding devices. Multiple sets of sensors are installed inside the torso 1 and the mounting plate 601. These sensors are connected to the control information processing unit for dynamic sensing. In use, the various modules can communicate wirelessly, thus simplifying the structure and improving posture adjustment efficiency.

[0023] like Figure 4As shown, the robot joint control system based on position and torque sensors further includes a planning and evaluation module and a control module. The planning and evaluation module includes a motion planner and a state estimator. The motion planner receives control signals, identifies the corresponding task requirements, plans the subsequent gait, and determines the subsequent driver code to be transmitted to each motor mechanism. The motion planner identifies the data uploaded by the sensors in real time, including its own center of gravity position, external road conditions, and external impact effects, and promptly retrieves the corresponding program for body stabilization. The state estimator acquires the current position, posture, speed, and contact force of the robot's legs in real time through signal transmission lines. The state estimator obtains comprehensive information about the robot's current posture and motion state through data from the IMU, force sensor, and vision sensor. The control module includes a whole-body controller and a low-level torque controller. The whole-body controller, based on the WBC framework, works with the motion planner and state estimator to calculate the control torque required for each joint and allocates task priorities according to task importance to ensure stable robot operation. The low-level torque controller identifies the corresponding control signals issued by the controller through data transmission and achieves precise adjustment of the motor drive through PID control.

[0024] When in use, the motion planner is responsible for generating the robot's gait and trajectory under different environments and tasks to ensure that the legs maintain dynamic balance while walking or standing. It also plans appropriate gait, such as walking, running, and jumping, based on the terrain identified by the sensors and the corresponding task requirements, and ensures that the robot's center of gravity always stays within the supporting polygon. The state estimator obtains corresponding information by fusing data uploaded by the sensors, including leg position, posture, speed, and contact force. The motion planner plans emergency action parameters and combines them with the state estimator to quickly retrieve the balance program, thereby enabling rapid adjustment of the robot's posture.

[0025] The whole-body controller and the low-level torque controller work together with a dynamic balance control algorithm to achieve self-adaptation. The dynamic balance control algorithm includes the following steps: Step 1, Obtaining contact force: Solving for the current contact force using an optimization problem to consider the ground reaction force during the calculation; Step 2, Calculating center of gravity dynamics: Calculating the center of gravity dynamics based on the current joint position and velocity, and performing discretization processing; Step 3, Estimating external disturbances: Estimating the unknown external forces acting on the robot body using the known contact force and center of gravity dynamics; Step 4, Stability analysis and gain adjustment: Performing stability analysis based on the estimated external forces and adjusting the feedback gain to enhance the robot's stability under disturbances.

[0026] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A robot joint control system based on position and torque sensors, characterized in that, The device includes a torso (1) and supporting legs (6). The torso (1) consists of a shell (101), a mounting frame (102), and a battery pack (103). The shell (101) has a rectangular shape. The mounting frame (102) is located inside the shell (101) and is detachably connected by bolts. The battery pack (103) is located inside the mounting frame (102). A partition is fitted and fixed to the outside of the battery pack (103). The partition is detachably connected to the mounting frame (102) by bolts. The mounting frame (102) has symmetrical through holes at both ends for fixing the torso connection. Structure (4): The torso (1) is provided with a front end cover (2) and a tail end cover (3) at both ends, and is fixedly connected to the torso (1) through a connecting plate. The supporting leg (6) is located on both sides of the torso (1) and is rotatably connected to the torso connecting structure (4) through a leg connecting structure (5). The supporting leg (6) includes a mounting plate (601) and a connecting rod (602). The mounting plate (601) has a drive assembly inside that is rotatably connected to the leg connecting structure (5). The upper end of the connecting rod (602) has a connecting shaft that is rotatably connected to the mounting plate (601) and works with the linkage rod to move the leg.

2. The robot joint control system based on position and torque sensors according to claim 1, characterized in that, The torso (1) contains a control information processing unit and a data recognition processing module. The data recognition processing module transmits signals to multiple motors in the torso connection structure (4) and the leg connection structure (5) to identify the operating status of the corresponding device. The torso (1) and the mounting plate (601) are equipped with multiple sets of sensors. The sensors are connected to the control information processing unit to facilitate dynamic sensing.

3. A robot joint control system based on position and torque sensors according to claim 1, characterized in that, It also includes a planning and evaluation module and a control module. The planning and evaluation module includes a motion planner and a state estimator. The motion planner receives control signals, identifies the corresponding task requirements, plans the subsequent gait, and determines the subsequent driver code to be transmitted to each motor mechanism. The motion planner identifies the data uploaded by the sensors in real time, including its own center of gravity position, external road conditions, and external impact effects, and promptly retrieves the corresponding program to stabilize the aircraft.

4. A robot joint control system based on position and torque sensors according to claim 2, characterized in that, The state estimator acquires the current position, posture, speed and contact force of the robot's legs in real time through the signal transmission line. The state estimator obtains comprehensive information about the robot's current posture and motion state through data from the IMU, force sensor and vision sensor.

5. A robot joint control system based on position and torque sensors according to claim 3, characterized in that, The control module includes a whole-body controller and a low-level torque controller. The whole-body controller is based on the WBC framework and works with a motion planner and a state estimator to calculate the control torque required for each joint and allocate task priorities according to task importance to ensure stable robot operation.

6. A robot joint control system based on position and torque sensors according to claim 5, characterized in that, The low-level torque controller identifies the corresponding control signal sent by the controller through data transmission and achieves precise adjustment of the motor drive through the PID control method.

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