A real-time compensation method for acceleration of a robot arm's working environment
Patent Information
- Application Number
- CN202010702318.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2020-07-21
- Publication Date
- 2024-12-13
- Estimated Expiration
- 2040-07-21
AI Technical Summary
Traditional industrial robotic arms are difficult to ensure safety, accuracy and ease of use in changing operating scenarios, and cannot adapt to the needs of different working scenarios.
Design a real-time compensation method for acceleration of the robotic arm working environment, obtain the acceleration information of the robotic arm through the acquisition module, and use the control module to perform dynamic compensation, including the acceleration sensor and communication interface in the base to obtain and transmit acceleration information, according to the moving object Real-time compensation is performed.
It realizes accurate tracking and smooth operation of the robotic arm in multi-variable dynamic scenarios, reduces working instability caused by acceleration changes, improves safety and accurate judgment, and enhances the safety and working performance of the robotic arm.
Smart Images
Figure CN113954062B_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of industrial robots, and in particular to a real-time compensation method for acceleration of a working environment of a robot arm and a robot arm. Background Art
[0002] In recent years, with the development of robotics technology, robots with high speed, high precision and high load-to-weight ratio have attracted attention in the industrial and aerospace fields. Robotic arms used in the industrial field have received extensive attention and application, and lightweight and flexible robotic arms have also been increasingly favored due to their safety and ease of use.
[0003] Safety, accuracy and ease of use are the main indicators for measuring the working performance of robotic arms. Traditional industrial robotic arms have a single working environment and low requirements for safety and accuracy. However, with the continuous advancement of technology, robotic arms can help people perform work in more and more scenarios. More application scenarios bring more design challenges. How to ensure the safety, accuracy and ease of use of robotic arms in the face of changing operating scenarios and user needs is a problem that needs to be solved urgently.
[0004] Therefore, it is necessary to design a processing method and a robotic arm with good safety, high accuracy and good stability that can be applied to different working scenarios. Summary of the invention
[0005] In view of this, an object of the present invention is to provide a method and a robotic arm for real-time compensation of acceleration in the working environment of a robotic arm, which have good safety, high accuracy and good stability and can be applied to different working scenarios.
[0006] The present invention can adopt the following technical scheme: a robotic arm, used to work on a moving object, characterized in that the robotic arm includes: a base, the robotic arm can be connected to the moving object through the base to change the working position following the movement of the moving object; an acquisition module, used to acquire acceleration information of the robotic arm, the acceleration information includes gravity acceleration information; a control module, the control module is used to perform dynamic compensation on the robotic arm according to the acceleration information; wherein the acquisition module is used to acquire acceleration information according to the maintenance and change of the motion state of the moving object; the control module is used to perform dynamic compensation on the robotic arm according to the maintenance and change of the acceleration information.
[0007] Furthermore, the base includes an acceleration sensor, and the acquisition module includes the acceleration sensor.
[0008] Furthermore, the robotic arm includes a communication interface, which can communicate with an external device to obtain acceleration information, and the acquisition module includes the communication interface.
[0009] Furthermore, the external device includes an acceleration sensor that exists independently of the robotic arm, and other devices including an acceleration sensor, such as a mobile phone, a personal computer, a remote control device, etc.
[0010] Furthermore, the communication interface is used to establish a communication connection between the robotic arm and the moving object to obtain acceleration information of the robotic arm.
[0011] Furthermore, the motion state of the moving object includes at least one of: stationary, moving, and rotating.
[0012] Furthermore, the control module is used to calculate the compensation force / torque that the joints of the robotic arm need to provide, and perform acceleration compensation on the joints of the robotic arm.
[0013] Furthermore, the acceleration information includes: information on the magnitude and direction of the acceleration.
[0014] Furthermore, the moving object includes: at least one of a mobile platform and a positioner.
[0015] The present invention can also adopt the following technical scheme: a processing method of a robotic arm, applied to a robotic arm working on a moving object, the robotic arm is connected to the moving object through its base and can follow the movement of the moving object to change the working position, characterized in that the processing method includes: obtaining acceleration information of the robotic arm, the acceleration information includes gravity acceleration information; performing dynamic compensation on the robotic arm according to the acceleration information; wherein, obtaining the acceleration information of the robotic arm includes: obtaining acceleration information according to the maintenance and change of the motion state of the moving object; performing dynamic compensation on the robotic arm according to the acceleration information includes: performing dynamic compensation on the robotic arm according to the maintenance and change of the acceleration information.
[0016] Furthermore, the base includes an acceleration sensor, and obtaining the acceleration information of the robotic arm includes: obtaining the acceleration information of the robotic arm through the base.
[0017] Further, the robotic arm includes a communication interface, and the communication interface can communicate with an external device to obtain acceleration information. Obtaining the acceleration information of the robotic arm includes: obtaining the acceleration information of the robotic arm through the communication interface.
[0018] Furthermore, the external device includes an acceleration sensor that exists independently of the robotic arm, and other devices including an acceleration sensor, such as a mobile phone, a personal computer, a remote control device, etc.
[0019] Furthermore, obtaining the acceleration information of the robotic arm includes: establishing a communication connection between the robotic arm and the moving object through a communication interface to obtain the acceleration information.
[0020] Furthermore, the motion state of the moving object includes at least one of: stationary, moving, and rotating.
[0021] Furthermore, the dynamic compensation of the robotic arm includes: calculating the compensation force / torque that the joints of the robotic arm need to provide, and performing acceleration compensation on the joints of the robotic arm accordingly.
[0022] Furthermore, the acceleration information includes: information on the magnitude and direction of the acceleration of the robot arm.
[0023] Furthermore, the moving object includes: at least one of a mobile platform and a positioner.
[0024] Compared with the prior art, the beneficial effects of the specific implementation methods of the present invention are: by continuously monitoring the acceleration information of the robotic arm working on the moving object, and performing dynamic compensation in time according to the maintenance and change of the acceleration information, the robotic arm can more accurately follow the expected motion trajectory to perform work, and at the same time, timely dynamic compensation reduces the possibility of unstable operation of the robotic arm due to changes in the overall acceleration, and continuous detection and compensation make the dynamic monitoring of the robotic arm more accurate, which is conducive to the robotic arm making accurate judgments on safety, effectively reducing the possibility of misjudgment and inaccurate judgment of the robotic arm, thereby enhancing the safety of the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS
[0025] The above-mentioned objectives, technical solutions and beneficial effects of the present invention can be achieved through the following drawings:
[0026] Figure 1 Schematic diagram of a mechanical arm of an embodiment of the present invention being located on a mobile platform
[0027] Figure 2 Schematic diagram of a robot arm on a positioner according to another embodiment of the present invention
[0028] Figure 3 is a flowchart of a robot arm processing method according to an embodiment of the present invention. DETAILED DESCRIPTION
[0029] In order to make the purpose, technical scheme and advantages of the present invention clearer, the scheme in the embodiment of the present invention will be described clearly and completely in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention but not all of the embodiments. Based on the embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0030] The present invention protects a mechanical arm for working on a moving object. Figure 1-2 , Figure 1 is a schematic diagram of a robot arm 100 located on a mobile platform 200 in one embodiment of the present invention, Figure 2It is a schematic diagram of a robot arm 100 located on a positioner 300 in an embodiment of the present invention. The mobile platform 200 and the positioner 300 are both moving objects, that is, they can move to change the working position of the robot arm 100. As shown in the figure, the robot arm 100 includes: a base, the base 110 is used to support the main body of the robot arm 100 and install the robot arm 100 to a preset position, and the robot arm 100 can be connected to the moving object through the base 110 and follow the movement of the moving object to change the working position, that is, change the absolute position of the robot arm 100 to operate at different positions. The robot arm 100 includes: an acquisition module, used to obtain the acceleration information of the robot arm 100; a control module, the control module is used to perform dynamic compensation on the robot arm 100 according to the acceleration information and the dynamic model of the robot arm 100. Among them, the acceleration information of the robotic arm 100 includes gravity acceleration information, and the acceleration information of the robotic arm 100 further includes other environmental acceleration information, that is, the acceleration information of the robotic arm 100 includes environmental acceleration information, the environmental acceleration information includes gravity acceleration information, and in some embodiments, the environmental acceleration also includes other environmental acceleration information except gravity acceleration, and the environmental acceleration information is an acceleration different from the acceleration caused by the driving of the robotic arm 100 itself to perform a work task. For example, the acceleration generated by the driving of a certain component of the robotic arm due to its own need to perform a certain work is not the environmental acceleration, and the acceleration other than the acceleration generated by the driving of the robotic arm itself due to the specified work task is the environmental acceleration. For example, the gravity acceleration of the robotic arm is the environmental acceleration, and the acceleration generated by the robotic arm being affected by an external body is the environmental acceleration. In the present invention, the acceleration of the robotic arm due to the movement of a moving object is the environmental acceleration. The acquisition module is also used to acquire acceleration information based on the maintenance and change of the motion state of the moving object, that is, the moving object may have different motion states. When the moving object maintains the current motion state, the acceleration information of the robotic arm 100 is acquired, and when the motion state of the moving object changes, the acceleration information of the robotic arm 100 is acquired. In other words, regardless of whether the motion state of the moving object remains unchanged or changes, the acceleration information of the robotic arm 100 is continuously acquired, and continuous real-time compensation is performed according to the acceleration information through the control module.By maintaining or changing the motion state of the moving object, the acceleration information of the robot arm 100 is obtained, and the acceleration information is dynamically compensated according to the acceleration information and the dynamic model of the robot arm 100, so that the acceleration information of the robot arm 100 can be continuously detected, and the acceleration information can be dynamically compensated based on the change and maintenance of the acceleration information, that is, the acceleration information is continuously detected instead of just obtaining the acceleration information at certain moments, and dynamic compensation is performed in time according to the obtained acceleration information, so that the operation of the robot arm is more accurate and stable, that is, the control deviation caused by the environmental acceleration is reduced or even eliminated, so as to prevent the robot arm from deviating from the preset motion trajectory, and prevent the robot arm 100 from misjudging the environment due to the change of the acceleration information, thereby affecting the stability of the robot arm's operation. At the same time, based on the timely detection and compensation of the environmental acceleration, the robot arm can obtain its own acceleration more accurately, and can effectively avoid the influence of the environmental acceleration, so as to detect and judge the safety more accurately, so as to make the safety of the robot arm better.
[0031] The acquisition module is used to acquire the acceleration information of the robot arm. In one embodiment, the base 110 of the robot arm includes an acceleration sensor, and the acquisition module includes the acceleration sensor. The robot arm 100 acquires the acceleration information of the robot arm 100 through the acceleration sensor of the robot arm base 110. Specifically, the robot arm is connected to a moving object through the base 110. When the moving object generates acceleration, since the robot arm 100 is connected to the moving object, the corresponding acceleration is also generated due to the movement of the moving object. By setting the acceleration sensor on the base 110, the acceleration of the moving object can be easily acquired, thereby easily acquiring the acceleration information of the robot arm 100. By setting the acquisition module to include the acceleration sensor located at the robot arm base 110, the acceleration detection is easy and accurate, which is conducive to accurate acceleration compensation. In another embodiment of the present invention, the robot 100 includes a communication interface, and the communication interface can communicate with an external device to obtain acceleration information of the robot 100. For example, the communication interface can communicate with a moving object to obtain acceleration information of the robot 100, that is, the communication interface can establish communication between the robot 100 and the moving object, and then obtain acceleration information of the robot 100. Optionally, the moving object includes an environmental sensor, and the environmental sensor can obtain acceleration information of the moving object, thereby further obtaining acceleration information of the robot 100. Specifically, the robot 100 includes a robot body, a control box, and a teach pendant (not shown in the figure), and the robot includes a communication interface, that is, at least any one of the robot body, the control box, and the teach pendant includes a communication interface. For example, the control box includes a communication interface, and the control box can establish communication between the robot and the moving object through the communication interface and then obtain acceleration information of the robot.
[0032] The moving object can carry the robot arm to change its position, so that the robot arm can perform operations at different positions, and the moving object includes at least one of the following motion states: stationary, rotating, and moving. That is, the moving object can carry the robot arm 100 to rotate, so that the robot arm 100 can reach different operating positions, and the moving object can carry the robot arm 100 to move, so that the robot arm can reach other operating positions, and when the moving object is stationary, the robot arm relies on its own movement to perform various operations. The above-mentioned moving object includes: at least one of: a mobile platform 200 and a positioner 300. For example, when the moving object is a mobile platform, the mobile platform can carry the robot arm 100 to move so that it reaches different operating positions to perform work, or stop at a necessary position to facilitate the operation of the robot arm 100, and help the robot arm 100 to perform work by moving a certain distance, stopping, performing the operation, and then continuing to move. Different operating positions include different absolute positions of the robot arm, or different working postures of the robot arm. The mobile platform 200 includes a moving object that can cause the robot arm 100 to move in the horizontal direction. Common mobile platforms 200 include: AGV carts, guide rail platforms, airplanes, etc. Or for example, when the moving object is a positioner 300, the positioner 300 can carry the robot arm 100 to rotate so that the robot arm 100 has different positions, that is, the robot arm 100 obtains different working postures through rotation. Figure 2, the positioner 200 rotates, and the manipulator 100 has a working posture other than the conventional non-vertical installation state, that is, by setting the positioner 300 to drive the manipulator 100 to rotate, the working posture of the manipulator 100 is richer and can solve more scene problems. When the posture of the manipulator 100 changes, the direction of the gravitational acceleration of the manipulator 100 will change. Continuously detecting the change of acceleration information can timely obtain the change of the gravitational acceleration of the manipulator 100, calculate the acceleration compensation strategy, and compensate for the gravitational acceleration in time, so that the manipulator 100 can operate smoothly. When the posture of the manipulator 100 changes, if the gravitational acceleration is not compensated in time, it is difficult for the machine to maintain a stable posture, let alone accurately perform work. The mobile platform may include a spacecraft or an interstellar lander. The manipulator 100 can replace people to perform some work in such an extreme environment. In the space environment, the magnitude of gravitational acceleration will also change. Timely detection of acceleration information and acceleration compensation can enable the manipulator 100 to perform work smoothly. The motion state of a moving object may remain or change. When the motion state is maintained or changed, the acceleration information of the robot arm 100 is obtained and dynamic compensation is performed to ensure the accuracy and stability of the robot arm's operation. That is, through dynamic compensation, the robot arm can run along the desired trajectory with good accuracy. At the same time, the environmental acceleration factors will not cause difficulties in the execution of the work of the robot arm, and other detections of the robot arm's acceleration will not be unstable due to the environmental acceleration factors, thereby affecting the safety effect.
[0033] The beneficial effects of the above embodiments are: by continuously acquiring the acceleration information of the robot arm working on the moving object and continuously performing acceleration compensation on the acceleration information, the robot arm can also ensure good operation accuracy and stability in various dynamically changing working scenes, and can operate according to the preset motion trajectory with high working accuracy. At the same time, based on the continuous compensation of dynamics, a more accurate dynamic calculation result is obtained, so that the detection of various parameters related to the dynamics is more accurate, for example, the judgment of safety will also be more accurate, further improving the working performance of the robot arm.
[0034] The invention also protects a method for processing a robotic arm, referring to Figure 3 The method is applied to a robot arm working on a moving object, the robot arm includes a base 110, the base 110 is used to support the robot arm 100 body and install and fix the robot arm 100 to a preset position, the robot arm 100 is connected to the moving object through the base 110 and can follow the movement of the moving object to change its working position, that is, change its absolute position, so that the robot arm 100 can operate at different positions. The processing method of the above-mentioned robot arm includes:
[0035] S1: Acquire acceleration information of the robotic arm, wherein the acceleration information includes gravity acceleration information;
[0036] The above-mentioned acquisition of the acceleration information of the manipulator includes acquiring the overall acceleration information of the manipulator, and the acceleration information includes the gravity acceleration information; wherein, acquiring the acceleration information of the manipulator includes acquiring the acceleration information according to the maintenance and change of the motion state of the moving object, that is, acquiring the acceleration information when the motion state of the moving object is maintained and changed, that is, continuously acquiring the acceleration information for the moving object. In one embodiment of the present invention, the moving object includes a mobile platform or a positioner, and the manipulator 100 can be connected to the mobile platform through the base 110, or connected to the work table with a variable position, and the mobile platform or the work table with a variable position can carry the manipulator 100 and according to the maintenance or change of its own motion state, make the manipulator 100 reach the desired working position. Specifically, the motion state of the moving object includes at least one of stillness, movement, and rotation, that is, when the moving object is in a certain motion state, or the motion state of the moving object changes from one of them to another, the acceleration information of the manipulator 100 is acquired, that is, the acceleration information of the manipulator 100 working on the moving object is continuously acquired. The acceleration information includes gravity acceleration information, and the acceleration information further includes environmental acceleration information, where the environmental acceleration information is acceleration information brought to the robotic arm by the external environment. In this embodiment, the environmental acceleration is the acceleration brought to the robotic arm by the movement of the moving object.
[0037] The robotic arm is connected to a moving object via a base 110, and the base 110 includes an acceleration sensor. The obtaining of the acceleration information of the robotic arm includes obtaining the acceleration information of the robotic arm via the acceleration sensor of the base 110. In another embodiment of the present invention, the robotic arm 100 includes a communication interface, and the communication interface can communicate to obtain acceleration information, that is, obtaining the acceleration information of the robotic arm includes obtaining via the communication interface of the robotic arm. Specifically, the communication interface can establish a communication connection with the moving object to obtain acceleration information. In other embodiments, the robotic arm can also obtain other necessary information through the communication interface, for example, confirm through the communication interface which moving object the robotic arm is on, or the robotic arm 100 can also establish a communication connection with the moving object through the communication interface for communication, for example, according to the working needs of the robotic arm 100, instruct the moving object to adjust its motion state, the moving object includes one of a mobile platform 200 or a positioner 300, the mobile platform 200 and the positioner 300 can carry the robotic arm 100 to change its working position, specifically, the mobile platform 200 can carry the robotic arm 100 to move to change the absolute position of the robotic arm, and the positioner 300 can carry the robotic arm 100 to rotate to change the working posture of the robotic arm.
[0038] S2: Performing dynamic compensation on the robotic arm according to the acceleration information.
[0039] That is, according to the processing method in S1, the acceleration information of the robotic arm is obtained, and the robotic arm is dynamically compensated. Among them, the dynamic compensation of the robotic arm includes inversely solving the acceleration information, thereby superimposing a real-time motion compensation force in the acceleration direction of the robotic arm to overcome the influence of the acceleration information, so that the robotic arm itself can maintain stable and accurate operation even in a dynamic working environment. At the same time, when the moving object is stationary or the motion state is in a steady state, of course, the robotic arm is also dynamically compensated to at least compensate for the influence of gravity acceleration. The dynamic compensation of the robotic arm according to the acceleration information includes: dynamically compensating the robotic arm according to the maintenance or change of the acceleration information. As mentioned above, the acceleration information of the robotic arm includes gravity acceleration. Therefore, no matter what environment the robotic arm is in, it is necessary to dynamically compensate for the acceleration, that is, at least compensate for the gravity acceleration of the robotic arm. The above-mentioned dynamic compensation of the robot arm according to the maintenance or change of the acceleration information includes dynamic compensation of the robot arm when the state of the moving object is static, or when the state of motion of the moving object is a certain state that does not change, that is, the acceleration information is in a maintained state; it also includes dynamic compensation of the robot arm when the state of motion of the moving object changes, for example, from static to moving, or from static to rotating. In summary, when the acceleration information of the robot arm remains unchanged or when the acceleration information changes, the robot arm is dynamically compensated, that is, when the acceleration information remains unchanged, at least the gravity acceleration needs to be compensated, that is, when the acceleration information may only include the gravity acceleration, the gravity acceleration needs to be compensated. The acceleration information includes the magnitude of the acceleration and the direction of the acceleration, that is, the acceleration information is vector information, and the acceleration information does not change, which means that the magnitude and direction of the acceleration do not change, and the acceleration changes, which means that one of the magnitude and direction of the acceleration changes, or both of them change. The dynamic compensation of the robot arm includes a compensation value of 0, or a compensation value that is not 0. The compensation value is 0, that is, the current compensation value is 0 obtained by calculating through the acquired acceleration. It should be noted that a compensation value of 0 does not mean no compensation. The compensation value of 0 is only that the result obtained after the calculation is 0, but in fact the calculation for compensation is continuing, but the final compensation value is 0. No compensation means that the compensation information is not calculated. The compensation information may be 0 or not 0, but it is not calculated and compensated. Specifically, in this embodiment, the acquired acceleration information is the overall acceleration of the robot arm. When the robot arm is dynamically compensated, the compensation force / torque that the joints of the robot arm need to provide is calculated, and the joints of the robot arm are accelerated accordingly.
[0040] By maintaining or changing the motion state of the moving object, the acceleration information of the robot arm is obtained, and the acceleration information is dynamically compensated according to the acceleration information and the dynamic model of the robot arm, so that the acceleration information of the robot arm can be continuously detected, and the acceleration information can be dynamically compensated continuously and in real time, so that the operation of the robot arm is more accurate and stable, that is, the control deviation caused by the environmental acceleration is reduced or even eliminated, so as to prevent the robot arm from deviating from the preset motion trajectory, and prevent the robot arm from misjudging the environment due to the change of acceleration information, causing unnecessary shutdown and other operations, which affect the stability of the robot arm. At the same time, continuous detection and real-time compensation make the calculation of dynamics more accurate, effectively eliminate environmental interference, and make the robot arm more accurate when making safety judgments, so that the safety of the robot arm is better.
[0041] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.
Claims
1. A robotic arm for working on a moving object, characterized in that: The robotic arm includes: a base, through which the robotic arm can be connected to the moving object so as to change the working position following the movement of the moving object; an acquisition module, for acquiring acceleration information of the robotic arm, wherein the acceleration information includes gravity acceleration information; a control module, wherein the control module is used to perform dynamic compensation on the robotic arm according to the acceleration information; wherein the acquisition module is used to acquire acceleration information according to the maintenance and change of the motion state of the moving object; the control module is used to perform dynamic compensation on the robotic arm according to the maintenance and change of the acceleration information; the base includes an acceleration sensor, and the acquisition module includes the acceleration sensor; the robotic arm includes a communication interface, which can communicate with an external device to acquire acceleration information, and the acquisition module includes the communication interface; the motion state of the moving object includes at least one of: stationary, moving, and rotating; the control module is used to calculate the compensation force and / or torque required to be provided by the joints of the robotic arm, and perform acceleration compensation on the joints of the robotic arm.
2. The robotic arm according to claim 1, characterized in that: The acceleration information includes: acceleration magnitude and direction information.
3. The robotic arm according to claim 1, characterized in that: The moving object includes: at least one of a mobile platform and a positioner.
4. A processing method for a robot arm, applied to a robot arm working on a moving object as claimed in any one of claims 1 to 3, wherein the robot arm is connected to the moving object through its base and can follow the moving object to change the working position, characterized in that: The processing method includes: obtaining acceleration information of the robotic arm, wherein the acceleration information includes gravity acceleration information; performing dynamic compensation on the robotic arm according to the acceleration information; wherein obtaining the acceleration information of the robotic arm includes: obtaining acceleration information according to the maintenance and change of the motion state of the moving object; performing dynamic compensation on the robotic arm according to the acceleration information includes: performing dynamic compensation on the robotic arm according to the maintenance and change of the acceleration information; the base includes an acceleration sensor, and obtaining the acceleration information of the robotic arm includes: obtaining the acceleration information of the robotic arm through the base; the robotic arm includes a communication interface, and the communication interface can communicate with an external device to obtain acceleration information, and obtaining the acceleration information of the robotic arm includes: obtaining the acceleration information of the robotic arm through the communication interface.