Robotic arm trajectory control method and system based on common DC bus energy-saving optimization

Abstract

The present invention discloses a robot trajectory control method and system based on common DC bus energy-saving optimization, belonging to the technical field of industrial robots. The present invention processes the energy data required to be provided by the drive system during the operation of the six-axis robot joint motor by constructing a bus capacitance design model and a trajectory planning model, and obtains the bus capacitance value based on the common DC bus power electronic topology characteristics; and according to the bus capacitance value, obtains the six-axis robot control structure parameters based on the common DC bus power electronic topology; and then obtains the motion trajectory of the six-axis robot according to the six-axis robot control structure parameters, and then the present invention can directly provide the energy fed back by the joint motor to the joint motor that needs to be accelerated, reduce the energy consumption of the six-axis robot during trajectory operation, thereby realizing the energy-saving optimization of the trajectory planning control of the six-axis robot, and the scheme is scientific, reasonable and feasible.

Description

Technical Field

[0001] The invention relates to a robot arm trajectory control method and system based on common DC bus energy-saving optimization, and belongs to the technical field of industrial robots. Background Art

[0002] Chinese patent (CN102983563B) provides a coordinated control method for a common DC bus hybrid energy storage system, comprising the following steps: establishing the topological structure of the hybrid energy storage system; coordinating and controlling different types of energy storage systems through a DC / DC converter control mode normalization model; and coordinating and controlling energy storage systems of the same type but different capacities. The present invention provides a coordinated control method for a common DC bus hybrid energy storage system, which achieves the rational use of different types of energy storage systems through coordinated control of lithium battery energy storage systems and supercapacitor energy storage systems, thereby improving the response speed of the system, extending the service life of energy storage, and improving the technical and economic performance of the entire system.

[0003] The above scheme can effectively utilize feedback energy and reduce energy waste by adopting the method of sharing DC bus, but the above scheme does not disclose how to apply the method of sharing DC bus in the six-axis joint motor, resulting in the scheme of sharing DC bus and bus capacitor of the six-axis joint motor cannot be realized, and thus the six-axis joint motor cannot effectively utilize feedback energy and reduce energy waste.

[0004] Furthermore, trajectory planning control is often used for work positioning of industrial robots, but the existing technology lacks a scientific and reasonable trajectory planning strategy, which results in the inability to effectively connect multi-axis joints and effectively reduce the energy consumed by multi-axis joints. Summary of the invention

[0005] In view of the defects of the prior art, the first purpose of the present invention is to provide a method for processing the energy data required by the drive system during the operation of the joint motor of the six-axis robot arm by constructing a bus capacitance design model and a trajectory planning model, so as to obtain a bus capacitance value based on the common DC bus power electronic topology characteristics; and according to the bus capacitance value, obtain the control structure parameters of the six-axis robot arm based on the common DC bus power electronic topology; then, according to the control structure parameters of the six-axis robot arm, obtain the motion trajectory of the six-axis robot arm, and then the energy fed back by the joint motor can be directly provided to the joint motor that needs to be accelerated, thereby reducing the energy consumption of the six-axis robot arm during trajectory operation, thereby realizing energy-saving optimization of the trajectory planning control of the six-axis robot arm, and the scheme is scientific, reasonable, and feasible. The robot arm trajectory control method based on the energy-saving optimization of the common DC bus.

[0006] The second object of the present invention is to provide a data acquisition module, a bus capacitance design module, a parameter acquisition module, and a trajectory planning module, to process the energy data required to be provided by the drive system during the operation of the six-axis robot arm joint motor, and obtain the bus capacitance value based on the common DC bus power electronic topology characteristics; and according to the bus capacitance value, obtain the six-axis robot arm control structure parameters based on the common DC bus power electronic topology; then according to the six-axis robot arm control structure parameters, obtain the motion trajectory of the six-axis robot arm, and then the energy fed back by the joint motor can be directly provided to the joint motor that needs to be accelerated, thereby reducing the energy consumption of the six-axis robot arm during trajectory operation. The scheme is scientific, reasonable, and feasible. A robot arm trajectory control system based on common DC bus energy-saving optimization.

[0007] The third purpose of the present invention is to provide a method that can directly provide the energy fed back by the joint motor to the joint motor that needs to be accelerated, thereby reducing the energy consumption during the trajectory operation of the six-axis robot arm; at the same time, a six-axis robot arm energy-saving optimization trajectory control strategy based on the multi-node trajectory planning interpolation method adopts the multi-node trajectory planning interpolation method to perform energy-saving optimization trajectory control on the traditional fifth-order polynomial trajectory planning, which can effectively link the multi-axis joints, the scheme is detailed and feasible, and can further reduce the energy consumption during the trajectory operation of the six-axis robot arm, a robot arm trajectory control method and system based on common DC bus energy-saving optimization.

[0008] To achieve one of the above purposes, the first technical solution of the present invention is:

[0009] The six-axis robot arm trajectory planning control method based on common DC bus energy-saving optimization includes the following steps:

[0010] The first step is to obtain the energy data that the drive system needs to provide during the operation of the six-axis robot arm joint motor;

[0011] In the second step, the energy data in the first step is processed through the pre-built bus capacitance design model and based on the common DC bus power electronic topology characteristics to obtain the bus capacitance value;

[0012] The third step is to obtain the control structure parameters of the six-axis robot based on the common DC bus power electronic topology according to the bus capacitance value in the second step;

[0013] In the fourth step, according to the control structure parameters of the six-axis robot in the third step and using the pre-built trajectory planning model, the motion trajectory of the six-axis robot is obtained, thereby realizing the trajectory planning control of the six-axis robot based on the common DC bus energy-saving optimization.

[0014] After continuous exploration and experiments, the present invention processes the energy data that the drive system needs to provide during the operation of the joint motor of the six-axis robot arm by constructing a bus capacitance design model and a trajectory planning model, and obtains a bus capacitance value based on the common DC bus power electronic topology characteristics; and according to the bus capacitance value, obtains the control structure parameters of the six-axis robot arm based on the common DC bus power electronic topology; and then obtains the motion trajectory of the six-axis robot arm according to the control structure parameters of the six-axis robot arm, and then the present invention can directly provide the energy fed back by the joint motor to the joint motor that needs to be accelerated, thereby reducing the energy consumption of the six-axis robot arm during trajectory operation; compared with the relatively independent drive structure of the traditional six-axis robot arm, the present invention can effectively reduce the energy consumption of the robot arm, and realize energy-saving optimization of the trajectory planning control of the six-axis robot arm, and the scheme is scientific, reasonable and feasible.

[0015] As the preferred technical measures:

[0016] In the first step, the energy data that the drive system needs to provide during the operation of the six-axis robot joint motor is E m , which should satisfy the maximum energy of driving the robot arm joints, where the six-axis joint motors need to reach the maximum speed. The specific calculation formula is as follows:

[0017]

[0018] Among them, m represents the mass of the robot arm itself, g represents the acceleration of gravity, h represents the working radius of the robot arm, and v imax represents the maximum speed of the robot joint motor i in the fifth-order polynomial trajectory planning, v imin Indicates the minimum operating speed of joint motor i.

[0019] As the preferred technical measures:

[0020] In the second step, the formula used to calculate the bus capacitance value in the bus capacitance design model is as follows:

[0021]

[0022] Among them, C F Indicates busbar capacitance value, U max Indicates the maximum threshold of the working voltage protection on the busbar, U min Represents the minimum threshold of the working voltage protection on the bus, ρ i represents the overload factor of joint motor i, E mi It represents the energy that the drive system needs to provide during the operation of the robot joint motor i, E c It indicates the energy provided by the DC bus capacitor during the operation of the robot joint motor;

[0023] The overload factor of the joint motor is calculated based on the power change curve of the robot joint motor during one working cycle. The calculation formula is as follows:

[0024]

[0025] Among them, ρ i represents the overload factor of joint motor i, E mi It represents the energy that the drive system needs to provide during the operation of the robot joint motor i, E c Indicates the energy provided by the DC bus capacitor during the operation of the robot joint motor.

[0026] As the preferred technical measures:

[0027] Energy E provided by the DC bus capacitor during the operation of the robot joint motor c The calculation formula is as follows:

[0028]

[0029] Among them, C F Indicates busbar capacitance value, U max Indicates the maximum threshold of the working voltage protection on the busbar, U min Indicates the minimum threshold of the working voltage protection on the bus.

[0030] As the preferred technical measures:

[0031] In the third step, the control structure parameters of the six-axis robot arm include the starting point, end point, and starting time t of a certain trajectory. s , end time t e and the corresponding constraints;

[0032] There are six corresponding constraints, including the starting time t s Angular displacement, angular velocity and angular acceleration at the end time t e The angular displacement, angular velocity and angular acceleration at are expressed as follows:

[0033]

[0034] Among them, θ(t s ) is the starting time t s The trajectory displacement at θ(t e ) is the termination time t e The trajectory displacement at s 、v s 、a s are the starting time t s Angular displacement, angular velocity and angular acceleration at θ e 、v e 、ae The termination time t e Angular displacement, angular velocity and angular acceleration at .

[0035] As the preferred technical measures:

[0036] In the fourth step, the method of constructing the trajectory planning model is as follows:

[0037] Step 41, making the angular displacement, angular velocity and angular acceleration of the joints of multiple point-to-point trajectories the same, and keeping the constraint condition at the end time of the current trajectory segment consistent with the constraint condition at the start time of the next trajectory segment;

[0038] Step 42, substituting the constraint conditions of each segment in step 41 into the pre-established parameter calculation formula unit to obtain the parameters of each trajectory segment;

[0039] Step 43, substituting the parameters of each segment of the trajectory in step 42 into the pre-established trajectory interpolation formula unit to obtain the motion trajectory of the six-axis robot arm.

[0040] As the preferred technical measures:

[0041] The calculation formula of the parameter calculation formula unit is as follows:

[0042]

[0043] Among them, a 0 , a 1 , a 2 , a 3 , a 4 , a 5 is the parameter to be determined, θ s 、v s 、a s are the starting time t s Angular displacement, angular velocity and angular acceleration at θ e 、v e 、a e The termination time t e Angular displacement, angular velocity and angular acceleration at T = t e -t s .

[0044] As the preferred technical measures:

[0045] The trajectory interpolation formula unit processes the parameters of each segment of the trajectory as follows:

[0046] The multi-node trajectory planning interpolation method is interpolated using a pre-built quintic polynomial trajectory planning model;

[0047] When the angular displacement, angular velocity and angular acceleration of the starting and ending points of the nodes in the quintic polynomial trajectory are given, the trajectory curve needs to meet six constraints. At this time, the quintic polynomial is used for interpolation, and its expression formula is as follows:

[0048] θ(t)=a 0 +a 1 (tt s )+a 2 (tt s ) 2 +a 3 (tt s ) 3 +a 4 (tt s ) 4 +a 5 (tt s ) 5

[0049] where a 0 , a 1 , a 2 , a 3 , a 4 , a 5 is the parameter to be determined, t s For the starting time.

[0050] The present invention proposes an energy-saving and optimized trajectory control strategy for a six-axis robot arm based on a multi-node trajectory planning interpolation method. The multi-node trajectory planning interpolation method is used to perform energy-saving and optimized trajectory control on the traditional quintic polynomial trajectory planning, which can effectively connect multi-axis joints. The scheme is detailed and feasible, and can further reduce the energy consumption of the six-axis robot arm during trajectory operation.

[0051] As the preferred technical measures:

[0052] The method to construct the quintic polynomial trajectory planning model is as follows:

[0053] S1, according to the characteristics of the quintic polynomial with 6 undetermined coefficients, constraints are given on the angular displacement, angular velocity and angular acceleration of the starting point and the end point at the same time. The expression that the joint angle needs to satisfy is as follows:

[0054]

[0055] S2, according to the expression that the joint angle in S1 needs to satisfy, the starting point and end point of a trajectory are represented by θ 0 and θ f Indicates that the starting velocity of the constraint is v 0 , the terminal velocity is v f , thus the expression of the quintic polynomial is as follows:

[0056]

[0057] S3, substitute the constraint conditions into the expression of the quintic polynomial in S2 to obtain the unknown coefficients, which are calculated as follows:

[0058]

[0059] S4, based on the unknown coefficients obtained in S3, obtain the trajectory planned by the quintic polynomial interpolation method.

[0060] To achieve one of the above purposes, the second technical solution of the present invention is:

[0061] The six-axis robot arm trajectory planning control system based on common DC bus energy-saving optimization adopts the above-mentioned six-axis robot arm trajectory planning control method based on common DC bus energy-saving optimization; it includes a data acquisition module, a bus capacitance design module, a parameter acquisition module, and a trajectory planning module.

[0062] A data acquisition module is used to obtain energy data that the drive system needs to provide during the operation of the six-axis robot arm joint motor;

[0063] The bus capacitance design module is used to process the energy data based on the common DC bus power electronic topology characteristics to obtain the bus capacitance value;

[0064] A parameter acquisition module, used to acquire control structure parameters of a six-axis robot based on a common DC bus power electronic topology;

[0065] The trajectory planning module is used to obtain the motion trajectory of the six-axis robot arm according to the control structure parameters of the six-axis robot arm.

[0066] After continuous exploration and experiments, the present invention processes energy data that needs to be provided by a driving system during the operation of a six-axis robotic arm joint motor by setting a data acquisition module, a bus capacitance design module, a parameter acquisition module, and a trajectory planning module, and obtains a bus capacitance value based on a common DC bus power electronic topology characteristic; and according to the bus capacitance value, obtains a six-axis robotic arm control structure parameter based on a common DC bus power electronic topology; and then obtains a motion trajectory of the six-axis robotic arm according to the six-axis robotic arm control structure parameter, and thus the present invention can directly provide the energy fed back by the joint motor to the joint motor that needs to be accelerated, thereby reducing the energy consumption during the trajectory operation of the six-axis robotic arm, and the scheme is scientific, reasonable, and feasible.

[0067] Compared with the prior art, the present invention has the following beneficial effects:

[0068] After continuous exploration and experiments, the present invention processes the energy data that needs to be provided by the drive system during the operation of the joint motor of the six-axis robot arm by constructing a bus capacitance design model and a trajectory planning model, and obtains the bus capacitance value based on the common DC bus power electronic topology characteristics; and according to the bus capacitance value, obtains the control structure parameters of the six-axis robot arm based on the common DC bus power electronic topology; and then obtains the motion trajectory of the six-axis robot arm according to the control structure parameters of the six-axis robot arm, and then the present invention can directly provide the energy fed back by the joint motor to the joint motor that needs to be accelerated, thereby reducing the energy consumption of the six-axis robot arm during trajectory operation, thereby realizing energy-saving optimization of the trajectory planning control of the six-axis robot arm, and the scheme is scientific, reasonable and feasible.

[0069] After continuous exploration and experiments, the present invention processes energy data that needs to be provided by a driving system during the operation of a six-axis robotic arm joint motor by setting a data acquisition module, a bus capacitance design module, a parameter acquisition module, and a trajectory planning module, and obtains a bus capacitance value based on a common DC bus power electronic topology characteristic; and according to the bus capacitance value, obtains a six-axis robotic arm control structure parameter based on a common DC bus power electronic topology; and then obtains a motion trajectory of the six-axis robotic arm according to the six-axis robotic arm control structure parameter, and thus the present invention can directly provide the energy fed back by the joint motor to the joint motor that needs to be accelerated, thereby reducing the energy consumption during the trajectory operation of the six-axis robotic arm, and the scheme is scientific, reasonable, and feasible.

[0070] Furthermore, the present invention proposes an energy-saving and optimized trajectory control strategy for a six-axis robotic arm based on a multi-node trajectory planning interpolation method, which uses a multi-node trajectory planning interpolation method to perform energy-saving and optimized trajectory control on the traditional fifth-order polynomial trajectory planning, and can effectively connect multi-axis joints. The scheme is detailed and feasible, and can further reduce the energy consumption of the six-axis robotic arm during trajectory operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] Figure 1 This is a first flow chart of the six-axis robot arm trajectory planning control method based on common DC bus energy-saving optimization of the present invention;

[0072] Figure 2 A structural block diagram of a six-axis robot arm trajectory planning control system based on common DC bus energy-saving optimization of the present invention;

[0073] Figure 3 This is the control structure block diagram of the traditional six-axis robot arm;

[0074] Figure 4 The control structure block diagram of the six-axis robot arm based on the common DC bus power electronic topology of the present invention;

[0075] Figure 5 for Figure 4The principle block diagram of the driver power unit based on the common DC bus design;

[0076] Figure 6 It is the variation curve of motor power when the joint motor works for one cycle;

[0077] Figure 7 This is a second flow chart of the six-axis robot arm trajectory planning control method based on common DC bus energy-saving optimization of the present invention;

[0078] Figure 8 A flow chart for optimizing trajectory calculation of the present invention. DETAILED DESCRIPTION

[0079] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0080] On the contrary, the present invention covers any substitution, modification, equivalent method and scheme made on the essence and scope of the present invention as defined by the claims. Further, in order to make the public have a better understanding of the present invention, some specific details are described in detail in the detailed description of the present invention below. Those skilled in the art can fully understand the present invention without the description of these details.

[0081] like Figure 1 As shown, the first specific embodiment of the six-axis robot arm trajectory planning control method based on common DC bus energy-saving optimization of the present invention is:

[0082] The six-axis robot arm trajectory planning control method based on common DC bus energy-saving optimization includes the following steps:

[0083] The first step is to obtain the energy data that the drive system needs to provide during the operation of the six-axis robot arm joint motor;

[0084] In the second step, the energy data in the first step is processed through the pre-built bus capacitance design model and based on the common DC bus power electronic topology characteristics to obtain the bus capacitance value;

[0085] The third step is to obtain the control structure parameters of the six-axis robot based on the common DC bus power electronic topology according to the bus capacitance value in the second step;

[0086] The fourth step is to obtain the motion trajectory of the six-axis robot arm according to the control structure parameters of the six-axis robot arm in the third step and using the pre-built trajectory planning model.

[0087] like Figure 2As shown, the second specific embodiment of the six-axis robot arm trajectory planning and control system based on the common DC bus energy-saving optimization of the present invention is:

[0088] The six-axis robot arm trajectory planning control system based on common DC bus energy-saving optimization adopts the above-mentioned six-axis robot arm trajectory planning control method based on common DC bus energy-saving optimization; it includes a data acquisition module, a bus capacitance design module, a parameter acquisition module, and a trajectory planning module.

[0089] A data acquisition module is used to obtain energy data that the drive system needs to provide during the operation of the six-axis robot arm joint motor;

[0090] The bus capacitance design module is used to process the energy data based on the common DC bus power electronic topology characteristics to obtain the bus capacitance value;

[0091] A parameter acquisition module, used to acquire control structure parameters of a six-axis robot based on a common DC bus power electronic topology;

[0092] The trajectory planning module is used to obtain the motion trajectory of the six-axis robot arm according to the control structure parameters of the six-axis robot arm.

[0093] like Figure 3-8 As shown, a specific embodiment of the six-axis robot control structure based on the common DC bus power electronic topology of the present invention is applied:

[0094] A six-axis robotic arm control structure based on a common DC bus power electronic topology includes a motion controller, a driver control unit, and a driver power unit, which is used for a six-axis robotic arm.

[0095] The output of the motion controller is connected to the input of the driver control unit, the output of the driver control unit is connected to the input of the driver power unit, and the output of the driver power unit is connected to the input of the six-axis robot arm; Figure 7 Flowchart of energy-saving optimized trajectory calculation for quintic polynomial trajectory planning.

[0096] The six-axis robotic arm includes joint one, joint two, joint three, joint four, joint five, and joint six.

[0097] The second specific embodiment of the six-axis robot arm trajectory planning control method based on common DC bus energy-saving optimization of the present invention is:

[0098] The six-axis robot arm trajectory planning control method based on common DC bus energy-saving optimization is controlled by using the six-axis robot arm energy-saving optimization trajectory control strategy based on common DC bus and multi-node trajectory planning interpolation method, which includes the following steps:

[0099] Step 1: Replace the traditional six-axis robot control structure (see Figure 3) is designed as a six-axis robot control structure based on a common DC bus power electronic topology (see Figure 4 );

[0100] Step 2. In the traditional independent drive structure, each robot joint has an independent bus capacitor, which only needs to withstand the regenerative voltage impact fed back when the single-axis motor decelerates. In the drive circuit designed using the common DC bus method, the six-axis joint motors share the DC bus and bus capacitor. The bus capacitor in the common DC bus structure needs to withstand the maximum regenerative voltage impact fed back when all six-axis joint motors decelerate. Therefore, it is necessary to design a suitable bus capacitor to meet the maximum regenerative voltage impact fed back when the six-axis joint motors decelerate.

[0101] Step 3: According to the power variation curve of the robot arm joint motor i during one working cycle, Figure 6 As shown, during the operation of the joint motor, the motor is working in an overload state:

[0102]

[0103] Among them, ρ i represents the overload factor of joint motor i, E mi It represents the energy that the drive system needs to provide during the operation of the robot joint motor i, E c Indicates the energy provided by the DC bus capacitor during the operation of the robot joint motor.

[0104] Step 4: Energy E that the drive system needs to provide during the operation of the six-axis robot arm joint motor m The maximum energy required to drive the robot arm joints must be met, and the six-axis joint motors must reach the maximum speed, expressed as:

[0105]

[0106] Among them, m represents the mass of the robot arm itself, g represents the acceleration of gravity, h represents the working radius of the robot arm, and v imax represents the maximum speed of the robot joint motor i in the fifth-order polynomial trajectory planning, v imin Indicates the minimum operating speed of joint motor i.

[0107] Step 5: Energy E provided by the DC bus capacitor during the operation of the robot joint motor c It is expressed as:

[0108]

[0109] Among them, C F Indicates busbar capacitance value, U max , U min Indicates the working voltage protection threshold on the bus.

[0110] Step 6: Derive the calculation formula of bus capacitance:

[0111]

[0112] Step 7: Design an energy-saving optimization trajectory control strategy based on the traditional quintic polynomial trajectory planning method. The quintic polynomial has 6 undetermined coefficients, which can simultaneously give constraints on the angle, angular velocity and angular acceleration of the starting point and the target point. Assume that the joint angle satisfies the following formula:

[0113]

[0114] Consider two adjacent points as the starting point and end point of a trajectory, respectively using θ 0 and θ f Indicates that the starting velocity of the constraint is v 0 , the terminal velocity is v f , that is,

[0115]

[0116] Substituting the constraints into formula (5), the coefficients can be obtained, thus obtaining the trajectory planned by the quintic polynomial interpolation method.

[0117]

[0118] Step 8: Based on the quintic polynomial trajectory planning, the multi-node trajectory planning interpolation method is used for interpolation. If the angular displacement, angular velocity and angular acceleration of the starting point and the end point of the node in the quintic polynomial trajectory are given, the trajectory curve needs to meet six constraints. At this time, the quintic polynomial can be used for interpolation, and its general form is as follows:

[0119] θ(t)=a 0 +a 1 (tt s )+a 2 (tt s ) 2 +a 3 (tt s ) 3 +a 4 (tt s ) 4 +a 5 (tt s ) 5 (8)

[0120] where a 0 , a 1 , a 2 , a 3 , a 4 , a5 is the parameter to be determined, t s For the starting time.

[0121] Given a starting time t s and the end time t e The six constraints of angular displacement, angular velocity and angular acceleration at are as follows:

[0122]

[0123] Let T = t e -t s , from formula (8) and formula (9), we can get:

[0124]

[0125] From formula (10), the parameters to be determined in formula (8) can be obtained as follows. Substituting formula (11) into formula (8) can obtain the desired trajectory.

[0126]

[0127] When planning multi-node trajectories, in order to ensure the smooth operation of the robot, an effective method is to make the angular displacement, angular velocity and angular acceleration of the multiple point-to-point trajectories the same. As long as the constraints at the end of the current trajectory are consistent with the constraints at the start of the next trajectory, the constraints of each segment are substituted into formula (11) to obtain the parameters of each trajectory. Then, the parameters of each trajectory are substituted into formula (8) to obtain the desired trajectory.

[0128] Step 9: The energy optimization control flow chart of the robot arm based on the multi-node trajectory planning interpolation method is as follows: Figure 7 As shown, the number of joints for which a>0 is defined is represented by the letter r. When r>3 is satisfied, the robot has more joint motors for acceleration. It is necessary to use formulas (9) and (10) to add constraints to the acceleration joints, calculate the corresponding fifth-order polynomial formula (8), interpolate on the calculation trajectory of the traditional fifth-order polynomial trajectory planning formula (5), and keep the constraints of the two segments of the interpolation point consistent. When r>3 is not satisfied, the robot has more joint motors for deceleration. It is necessary to use formulas (9) and (10) to add constraints to the deceleration joints, calculate the corresponding fifth-order polynomial formula (8), interpolate on the calculation trajectory of the traditional fifth-order polynomial trajectory planning formula (5), and keep the constraints of the two segments of the interpolation point consistent.

[0129] An embodiment of a device applying the method of the present invention:

[0130] A computer device comprising:

[0131] one or more processors;

[0132] A storage device for storing one or more programs;

[0133] When the one or more programs are executed by the one or more processors, the one or more processors implement the above-mentioned six-axis robot arm trajectory planning and control method based on common DC bus energy-saving optimization.

[0134] A computer medium embodiment using the method of the present invention:

[0135] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the above-mentioned six-axis robot arm trajectory planning and control method based on common DC bus energy-saving optimization.

[0136] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, and computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0137] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram and the combination of the processes and / or blocks in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0138] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0139] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0140] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. Trajectory planning and control method of six-axis robot arm based on common DC bus energy-saving optimization ， It is characterized in that The following steps are involved: The first step is to obtain the energy data that the drive system needs to provide during the operation of the six-axis robot arm joint motor; In the second step, the energy data in the first step is processed through the pre-built bus capacitance design model and based on the common DC bus power electronic topology characteristics to obtain the bus capacitance value; The third step is to obtain the control structure parameters of the six-axis robot based on the common DC bus power electronic topology according to the bus capacitance value in the second step; In the fourth step, according to the control structure parameters of the six-axis robot in the third step and using the pre-built trajectory planning model, the motion trajectory of the six-axis robot is obtained, thereby realizing the trajectory planning control of the six-axis robot based on the common DC bus energy-saving optimization.

2. The six-axis robot arm trajectory planning and control method based on common DC bus energy-saving optimization as claimed in claim 1, It is characterized in that In the first step, the energy data that the drive system needs to provide during the operation of the six-axis robot joint motor is E m , which meets the maximum energy of driving the robot arm joints, and the six-axis joint motors need to reach the maximum speed. The specific calculation formula is as follows: Among them, m represents the mass of the robot arm itself, g represents the acceleration of gravity, h represents the working radius of the robot arm, and v imax represents the maximum speed of the robot joint motor i in the fifth-order polynomial trajectory planning, v imin Indicates the minimum operating speed of joint motor i.

3. The six-axis robot arm trajectory planning and control method based on common DC bus energy-saving optimization as claimed in claim 2, It is characterized in that In the second step, the formula used to calculate the bus capacitance value in the bus capacitance design model is as follows: Among them, C F represents the bus capacitance value, U max represents the maximum threshold of the operating voltage protection on the bus, U min represents the minimum threshold of the operating voltage protection on the bus, ρ i represents the overload coefficient of joint motor i, E mi represents the energy that the drive system needs to provide during the operation of robotic arm joint motor i, E c represents the energy provided by the DC bus capacitor during the operation of the robotic arm joint motor; The overload factor of the joint motor is calculated based on the power change curve of the robot joint motor during one working cycle. The calculation formula is as follows: Among them, ρ i represents the overload coefficient of the joint motor i, and E mi represents the energy that the drive system needs to provide during the operation of the robotic arm joint motor i, and E c represents the energy provided by the DC bus capacitor during the operation of the robotic arm joint motor.

4. The six-axis robot arm trajectory planning and control method based on common DC bus energy-saving optimization as claimed in claim 3, It is characterized in that Energy E provided by the DC bus capacitor during the operation of the robot joint motor c The calculation formula is as follows: Among them, C F Indicates busbar capacitance value, U max Indicates the maximum threshold of the working voltage protection on the busbar, U min Indicates the minimum threshold of the working voltage protection on the bus.

5. The six-axis robot arm trajectory planning and control method based on common DC bus energy-saving optimization as claimed in claim 1, It is characterized in that In the third step, the control structure parameters of the six-axis robot arm include the starting point, end point, and starting time t of a certain trajectory. s , end time t e and the corresponding constraints; There are six corresponding constraints, including the starting time t s Angular displacement, angular velocity and angular acceleration at the end time t e The angular displacement, angular velocity and angular acceleration at are expressed as follows: Among them, θ(t s ) is the starting time t s The trajectory displacement at θ(t e ) is the termination time t e The trajectory displacement at s 、v s 、a s are the starting time t s Angular displacement, angular velocity and angular acceleration at θ e 、v e 、a e The termination time t e Angular displacement, angular velocity and angular acceleration at .

6. The six-axis robot arm trajectory planning and control method based on common DC bus energy-saving optimization as claimed in claim 1, It is characterized in that In the fourth step, the method of constructing the trajectory planning model is as follows: Step 41, making the angular displacement, angular velocity and angular acceleration of the joints of multiple point-to-point trajectories the same, and keeping the constraint condition at the end time of the current trajectory segment consistent with the constraint condition at the start time of the next trajectory segment; Step 42, substituting the constraint conditions of each segment in step 41 into the pre-established parameter calculation formula unit to obtain the parameters of each trajectory segment; Step 43, substituting the parameters of each segment of the trajectory in step 42 into the pre-established trajectory interpolation formula unit to obtain the motion trajectory of the six-axis robot arm.

7. The six-axis robot arm trajectory planning and control method based on common DC bus energy-saving optimization as claimed in claim 6, It is characterized in that The calculation formula of the parameter calculation formula unit is as follows: Among them, a 0 , a 1 , a 2 , a 3 , a 4 , a 5 is the parameter to be determined, θ s 、v s 、a s are the starting time t s Angular displacement, angular velocity and angular acceleration at θ e 、v e 、a e The termination time t e Angular displacement, angular velocity and angular acceleration at T = t e -t s .

8. The six-axis robot arm trajectory planning and control method based on common DC bus energy-saving optimization as claimed in claim 6, It is characterized in that The trajectory interpolation formula unit processes the parameters of each segment of the trajectory as follows: The multi-node trajectory planning interpolation method is interpolated using a pre-built quintic polynomial trajectory planning model; When the angular displacement, angular velocity and angular acceleration of the starting and ending points of the nodes in the quintic polynomial trajectory are given, the trajectory curve needs to meet six constraints. At this time, the quintic polynomial is used for interpolation, and its expression formula is as follows: θ(t)=a 0 +a 1 (t-t s )+a 2 (t-t s ) 2 +a 3 (t-t s ) 3 +a 4 (t-t s ) 4 +a 5 (t-t s ) 5 where a 0 , a 1 , a 2 , a 3 , a 4 , a 5 is the parameter to be determined, t s For the starting time.

9. The six-axis robot arm trajectory planning and control method based on common DC bus energy-saving optimization as claimed in claim 8, It is characterized in that The method to construct the quintic polynomial trajectory planning model is as follows: S1, according to the characteristics of the quintic polynomial with 6 undetermined coefficients, constraints are given on the angular displacement, angular velocity and angular acceleration of the starting point and the end point at the same time. The expression that the joint angle needs to satisfy is as follows: S2, according to the expression that the joint angle in S1 needs to satisfy, the starting point and end point of a trajectory are represented by θ 0 and θ f Indicates that the starting velocity of the constraint is v 0 , the terminal velocity is v f , thus the expression of the quintic polynomial is as follows: S3, substitute the constraint conditions into the expression of the quintic polynomial in S2 to obtain the unknown coefficients, which are calculated as follows: S4, based on the unknown coefficients obtained in S3, obtain the trajectory planned by the quintic polynomial interpolation method.

10. Six-axis robot arm trajectory planning and control system based on common DC bus energy-saving optimization, It is characterized in that Adopting the six-axis robot arm trajectory planning and control method based on common DC bus energy-saving optimization as described in any one of claims 1 to 9; It includes a data acquisition module, a busbar capacitance design module, a parameter acquisition module, and a trajectory planning module; A data acquisition module is used to obtain energy data that the drive system needs to provide during the operation of the six-axis robot arm joint motor; The bus capacitance design module is used to process the energy data based on the common DC bus power electronic topology characteristics to obtain the bus capacitance value; A parameter acquisition module, used to acquire control structure parameters of a six-axis robot based on a common DC bus power electronic topology; The trajectory planning module is used to obtain the motion trajectory of the six-axis robot arm according to the control structure parameters of the six-axis robot arm.

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