A robot dynamics verification method based on sequence splitting method

Abstract

The present invention provides a robot dynamics verification method based on a sequence splitting method, and a robot verification system, which includes a simulation system and a physical verification platform; the simulation system can obtain the actual motion trajectory of each joint of the robot, split the motion trajectory of the robot into sequences, obtain the motion curve and load curve of each joint, and send them to the physical verification platform; the physical verification platform can respond to the motion curve and load curve of each joint, perform load tests on each joint of the robot in a time-sharing manner, and return the actual motion trajectory obtained by the test to the simulation system, thereby realizing comprehensive verification of the robot dynamics under various complex working conditions.

Description

Technical Field

[0001] The present invention relates to a robot verification system and method, in particular to a system and method for verifying the comprehensive working performance of a robot through dynamics testing. Background Art

[0002] The dynamic characteristics of the robot have a crucial impact on the performance of its motion operations. If the dynamic characteristics of the robot are not accurately obtained, there will be great uncertainty and safety issues. However, the robot is a high-performance comprehensive result of mechanical structure, drive, electronic control and sensing. There are complex nonlinear coupling problems such as human-machine coexistence working environment, perception, dynamics and control. It is necessary to accurately model and identify the robot dynamics. Therefore, it is very important to build a robot verification system, guide the research of robot control algorithms, and verify the feasibility and safety of the robot's high-performance stable motion operations. Summary of the invention

[0003] The object of the present invention is to provide a system and method for robot dynamics verification.

[0004] The technical solution of the present invention is as follows.

[0005] A first aspect of the present invention provides a robot verification system, including a simulation system and a physical verification platform;

[0006] The simulation system can obtain the actual motion trajectory of each joint of the robot, split the motion trajectory of the robot into sequences, obtain the motion curve and load curve of each joint, and send them to the physical verification platform;

[0007] The physical verification platform can respond to the motion curve and load curve of each joint, perform load tests on each joint of the robot in a time-sharing manner, and return the actual motion trajectory obtained from the test to the simulation system, thereby achieving comprehensive verification of various complex working conditions.

[0008] Preferably, the motion curve includes the motion trajectory curve and the feedforward torque curve of each joint of the robot; and the load curve includes the actual torque curve of each joint.

[0009] Preferably, the simulation system includes a robot motion planning device, a system dynamics feedforward device, and a sequence splitting device;

[0010] The robot motion planning device can perform motion planning according to the robot's operating task, obtain the motion trajectory of each joint of the robot, and send it to the system dynamics feedforward device and the sequence splitting device;

[0011] The system dynamics feedforward device is used to calculate the joint feedforward torque according to the motion trajectory of each joint, and send it to the sequence splitting device;

[0012] The sequence splitting device can decompose the motion trajectory of each joint of the robot to obtain the motion trajectory curve of each joint; it can also decompose the joint feedforward torque to obtain the feedforward torque curve of each joint.

[0013] Preferably, the simulation system further comprises a sequence integration device and a robot motion simulation system;

[0014] The sequence integration device can integrate the actual motion trajectories of the joints of the robot and send them to the robot motion simulation system;

[0015] The robot motion simulation system realizes simulation analysis of robot motion characteristics and obtains the driving torque required for each joint;

[0016] The sequence splitting device can decompose the driving torque required by each joint to obtain the actual torque curve of each joint.

[0017] Preferably, the physical verification platform includes a loading device;

[0018] The loading device performs time-sharing loading according to the single joint load torque curve calculated by the simulation system to simulate the real joint load torque.

[0019] Preferably, the loading device comprises:

[0020] Inertial loading of robot joints can be achieved.

[0021] Preferably, the physical verification platform can also test the actual motion conditions of the robot joints, thereby obtaining the actual motion trajectory of each joint.

[0022] A second aspect of the present invention provides a robot verification method, comprising the following steps:

[0023] Step S1, designing in the simulation system according to the operation task that the robot needs to perform to realize the motion planning of the robot;

[0024] Step S2, calculating the joint feedforward torque of each joint motion trajectory of the robot obtained by planning, and performing sequence splitting on the joint motion trajectory to decompose it into motion trajectory curves of each joint;

[0025] Step S3, performing sequence decomposition on the obtained joint feedforward torque to obtain the feedforward torque curve of each joint;

[0026] Step S4, sending the motion trajectories and feedforward torques of each joint obtained by splitting the sequence to each actual robot arm joint for motion control;

[0027] Step S5, simulating the entire robot to obtain the actual torque value of the joint;

[0028] Step S6, the torque values ​​of all joints are sequence-splitting to obtain the actual torque curve of each joint for joint load simulation;

[0029] Step S7, testing the actual motion conditions of the robot joints to obtain the actual motion trajectory of each joint;

[0030] Step S8, the actual motion trajectories of each joint are sequentially integrated, and the simulation model is driven to obtain the actual torque value of the joint in the next step.

[0031] The present invention organically combines a robot simulation system with a physical verification platform. The load conditions of each joint of the robot are simultaneously acquired through the robot simulation system, and the motion performance of each joint is verified in a time-sharing manner through the physical verification platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a schematic diagram of the loading platform of the physical test system.

[0033] Figure 2 It is a schematic diagram of the structure of the robot verification system of the present invention. DETAILED DESCRIPTION

[0034] As attached Figure 1 As shown, the overall solution of the robot verification system involved in the present invention is as follows Figure 1 As shown, it includes two parts: simulation system and physical verification platform.

[0035] The simulation system includes a dynamic model of the entire robot, which can realize simulation analysis of the robot's motion characteristics and obtain the driving torque required for each joint. In a preferred embodiment, the simulation system can obtain the actual motion trajectory of each joint of the robot, separate the robot's motion trajectory into sequences, obtain the motion curve and load curve of each joint, and send them to the physical verification platform.

[0036] The physical verification platform can respond to the motion curve and load curve of each joint, perform load tests on each joint of the robot in a time-sharing manner, and return the actual motion trajectory obtained from the test to the simulation system, thereby realizing the verification of various complex working conditions.

[0037] In a preferred embodiment, the physical verification system is a loading device, which is used to simulate the load torque of each joint during movement. The loading device performs time-sharing loading according to the single joint load torque curve calculated by the simulation system to simulate the real joint load torque. Through sequence splitting, all joint motion conditions of several groups of experimental robots can be used for verification to achieve robot verification.

[0038] like Figure 2 As shown, the specific process adopted by the robot verification system according to the present invention when conducting a test is as follows.

[0039] Step S1, designing in the simulation system according to the operation tasks that the robot needs to perform to realize the motion planning of the robot.

[0040] Step S2, sending the planned motion trajectory of each joint of the robot to the system dynamics feedforward for joint feedforward torque calculation, and performing sequence splitting on it to decompose it into the motion trajectory curve of each joint.

[0041] Step S3, sequence-splitting the joint feedforward torque obtained by the system dynamics feedforward to obtain the feedforward torque curve of each joint.

[0042] Step S4, sending the motion trajectories and feedforward torques of the joints obtained by splitting the sequence to the actual joints of the robot arm for motion control.

[0043] Step S5: The robot motion simulation system can simulate the entire robot to obtain the actual torque value of the joint.

[0044] Step S6, the torque values ​​of all joints are sequenced to obtain the actual torque curve of each joint, which is sent to the loading device of the actual system for joint load simulation.

[0045] Step S7, the actual motion conditions of the robot joints can be tested in the physical verification platform to obtain the actual motion trajectory of each joint.

[0046] Step S8, the actual motion trajectory of each joint is sent to the robot motion simulation system after sequence integration, and the simulation model is driven to obtain the actual torque value of the joint in the next step.

[0047] Through the above process, the robot simulation system and the physical verification platform are organically combined. The load conditions of each joint of the robot are obtained simultaneously through the robot simulation system, and the motion performance of each joint is verified in a time-sharing manner through the physical verification platform, thereby realizing the verification of the robot's motion.

Claims

1. A robot verification system, including a simulation system and a physical verification platform; The simulation system includes a dynamic model of the robot as a whole, which can realize simulation analysis of the robot's motion characteristics and obtain the driving torque required for each joint; and can obtain the actual motion trajectory of each joint of the robot, separate the robot's motion trajectory into sequences, obtain the motion curve and load curve of each joint, and send them to the physical verification platform; The physical verification platform can respond to the motion curve and load curve of each joint, perform load tests on each joint of the robot in a time-sharing manner, and return the actual motion trajectory obtained from the test to the simulation system, thereby achieving comprehensive verification of various complex working conditions; The motion curve includes the motion trajectory curve and feedforward torque curve of each joint of the robot; the load curve includes the actual torque curve of each joint; The simulation system includes a robot motion planning device, a system dynamics feedforward device, and a sequence splitting device; The robot motion planning device can perform motion planning according to the robot's operating task, obtain the motion trajectory of each joint of the robot, and send it to the system dynamics feedforward device and the sequence splitting device; The system dynamics feedforward device is used to calculate the joint feedforward torque according to the motion trajectory of each joint, and send it to the sequence splitting device; The sequence splitting device can decompose the motion trajectory of each joint of the robot to obtain the motion trajectory curve of each joint; it can also decompose the joint feedforward torque to obtain the feedforward torque curve of each joint; The simulation system also includes a sequence integration device and a robot motion simulation system; The sequence integration device can integrate the actual motion trajectories of the joints of the robot and send them to the robot motion simulation system, thereby driving the robot motion simulation system to realize simulation analysis of the robot motion characteristics and obtain the driving torque required by each joint; The sequence splitting device can decompose the driving torque required by each joint to obtain the actual torque curve of each joint.

2. A robot verification system according to claim 1, It is characterized in that The physical verification platform is a loading device; The loading device performs time-sharing loading according to the single joint load torque curve calculated by the simulation system to simulate the real joint load torque.

3. A robot verification system according to claim 2, It is characterized in that The loading device can realize inertial loading of the robot joints.

4. A robot verification system according to claim 3, It is characterized in that The physical verification platform can also test the actual motion conditions of the robot joints, thereby obtaining the actual motion trajectory of each joint.

5. A robot verification method, using the robot verification system according to any one of claims 1 to 4, comprising the following steps: Step S1, designing in a simulation system according to the operation task that the robot needs to perform to realize the motion planning of the robot; the simulation system includes a dynamic model of the entire robot, which can realize the simulation analysis of the robot's motion characteristics and obtain the driving torque required for each joint; Step S2, calculating the joint feedforward torque of each joint motion trajectory of the robot obtained by planning, and performing sequence splitting on the joint motion trajectory to decompose it into motion trajectory curves of each joint; Step S3, performing sequence decomposition on the obtained joint feedforward torque to obtain the feedforward torque curve of each joint; Step S4, sending the motion trajectories and feedforward torques of each joint obtained by splitting the sequence to each actual robot arm joint for motion control; Step S5, simulating the entire robot to obtain the actual torque value of the joint; Step S6, the torque values ​​of all joints are sequence-splitting to obtain the actual torque curve of each joint for joint load simulation; Step S7, testing the actual motion conditions of the robot joints to obtain the actual motion trajectory of each joint; Step S8, the actual motion trajectories of each joint are sequentially integrated, the simulation model is driven to obtain the actual torque value of the joint in the next step, and then the process goes to step S6.

6. A robot verification method according to claim 5, It is characterized in that In step S7, each joint is tested in different time periods.

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