Modular operating arm cooperative driving control method for multi-linear driving

Abstract

A kind of modular operating arm collaborative driving control method for multiple linear drives belongs to mechanism system driving control field, it is characterized in that: analysis modular operating arm driving system, obtains the number of linear driver and actuation parameter;Select linear driver driving control parameter;Drive single linear driver to judge whether controllable actuation can be realized;If so, selected linear driver driving control parameter is used as the driving control parameter of all linear drivers;Set lower computer control logic;Planning trajectory;Establish operating arm kinematics model, obtain the functional relationship of driving control parameter and time;According to the functional relationship, the trajectory is converted into upper computer driving control program instruction to drive multiple linear drivers, complete preset trajectory task.This method can collaboratively drive and control multiple linear drivers of modular operating arm, greatly simplify the control method and process, and can be applied to the driving control of modular operating arm with multiple linear drives, and has strong versatility.

Description

Technical Field

[0001] This invention belongs to the field of mechanical system drive control, and particularly relates to a modular manipulator cooperative drive control method for multi-linear drive. Background Technology

[0002] In the drive control of a modular manipulator system, all drivers of the manipulator need to be driven in a coordinated manner. For rotary drives, whether stepper motors or servo motors, current technology can achieve precise independent control, thus enabling coordinated operation of multiple rotary drives. However, for linear drives, it is currently possible to control a single or a small number of linear drives, but the cost is high; and for modular manipulators with multiple linear drives, coordinated operation is even more difficult, costly, and ineffective. Summary of the Invention

[0003] The present invention aims to solve the above problems and provide a modular manipulator cooperative drive control method for multi-linear drive.

[0004] The modular manipulator cooperative drive control method for multi-linear drive described in this invention includes the following steps:

[0005] Step 1: Analyze the modular manipulator drive system to obtain the number of linear actuators and their actuation parameters, such as speed, voltage, and current.

[0006] Step 2: Select the linear actuator drive control parameters; use the selected drive control parameters as input to drive a single linear actuator and determine whether the linear actuator can achieve controllable actuation; if not, repeat step 2; if yes, use the selected linear actuator drive control parameters as the drive control parameters for all linear actuators.

[0007] Step 3: Set the lower-level machine control logic for the coordinated operation of multiple linear drives;

[0008] Step 4: Plan and formulate the motion trajectory of the modular manipulator; establish the kinematic model of the manipulator, and obtain the functional relationship between the drive control parameters and time through inverse kinematic model solution;

[0009] Step 5: Based on the control logic described in Step 3 and the functional relationship described in Step 4, convert the motion trajectory into upper computer drive control program instructions, drive multiple linear actuators, and enable the modular manipulator to work together to complete the preset trajectory task.

[0010] Furthermore, in the modular manipulator collaborative drive control method for multiple linear drives described in this invention, when the drive control parameters of the selected linear driver are used as the drive control parameters of all linear drivers, a development board is used as the lower-level machine for driving and controlling multiple linear drivers; the development board is connected to all linear drivers via a drive amplifier; the control parameters include, but are not limited to, current, voltage, speed, actuation time, and actuation displacement.

[0011] Let the number of linear actuators be... n The development board has [number] pins; l The selected development board has a pin count that meets the following requirements. l ≥ 2 n .

[0012] Furthermore, the modular manipulator collaborative drive control method for multiple linear drives described in this invention specifically includes the following process in setting the lower-level machine control logic for the collaborative operation of multiple linear drives:

[0013] The development board is configured to have 2 n Each pin outputs a signal, among which n One output high level, n Each pin outputs a low level; every two pins control one linear driver.

[0014] For any linear actuator s Let pin (2) s -1) and 2 s Control the linear drive s ;

[0015] Setting the linear driver s The corresponding pin (2) s -1) and 2 s Output high and low levels and linear driver s Control state relationships;

[0016] Define a linear driver s The control state is such that when the input value is 1, the linear actuator is controlled. s Two pins (2 s -1) and 2 s All output low level, linear driver s Stop the action;

[0017] When the input value is 0, control the linear actuator. s pins (2) s -1) Output high level, pin 2 s The output is low, at which point the linear driver... s The motor rotates forward, and the linear driver is used. s The push rod extends;

[0018] When the input value is 2, the linear actuator is controlled. s pins (2) s -1) Output low level, pin 2 s The output is high, at which point the linear driver... s Motor reverses, linear driver s The push rod is shortened.

[0019] Furthermore, the collaborative drive control method for modular manipulators with multiple linear actuators described in this invention, when obtaining the functional relationship between drive control parameters and time, obtains the functional relationship between drive control parameters and the end-effector posture of the modular manipulator based on the inverse kinematic model of the established manipulator; then, based on the planned motion trajectory of the modular manipulator, obtains the functional relationship between the end-effector posture of the modular manipulator and the end-effector posture of each module's moving platform at each moment and time; and derives the functional relationship between the drive control parameters of each linear actuator and time. Based on the above kinematic model and combined with geometric relationships, the inverse kinematic solution of the modular manipulator is obtained, that is, the drive control parameters of each linear actuator are obtained based on the known end-effector posture of the modular manipulator.

[0020] The present invention describes a collaborative drive control method for a modular manipulator with multiple linear drives. Based on task requirements, the method plans and formulates the motion trajectory of the modular manipulator. The functional relationship between the drive control parameters of each linear drive and time is programmed and converted into a host computer drive control program. The control signal is transmitted to the lower computer, which drives the multiple linear drives of the modular manipulator to work together according to the control logic to complete the preset motion trajectory.

[0021] The modular manipulator cooperative drive control method for multi-linear drive described in this invention has the following technical effects:

[0022] (1) Multiple linear actuators that can collaboratively drive and control modular manipulators greatly simplify the control method and process;

[0023] (2) The operation is convenient due to the control program and software programming;

[0024] (3) It can be applied to the drive control of modular operating arms with multiple linear drives, and has strong versatility. Attached Figure Description

[0025] Figure 1 This is a flowchart of the modular manipulator cooperative drive control method for multi-linear drive according to an embodiment of the present invention;

[0026] Figure 2 A schematic diagram of the tetrahedral manipulator structure described in an embodiment of the present invention;

[0027] Among them, 1-linear driver. Detailed Implementation

[0028] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with the accompanying drawings and specific implementation methods.

[0029] The modular manipulator cooperative drive control method for multi-linear drive described in this disclosure embodiment, such as... Figure 1 As shown, it includes the following steps:

[0030] Step 1: Analyze the given modular manipulator drive system to obtain the number of linear actuators and their actuation parameters.

[0031] Step 2: Select the linear drive control parameters; use the selected drive control parameters as input to drive a single linear drive and determine whether the linear drive can achieve controllable actuation; if not, repeat step 2; if yes, use the selected linear drive control parameters as the drive control parameters for all linear drives.

[0032] Step 3: Set the lower-level machine control logic for the coordinated operation of multiple linear drives;

[0033] Before setting the lower-level control logic, connect the development board to multiple linear drivers via a driver amplifier. Connect two pins of the development board to the input of the driver amplifier; the development board acts as the lower-level controller for driving and controlling the multiple linear drivers. Connect the positive and negative terminals of any linear driver to the output of the driver amplifier. Each development board has l pins; depending on the requirements, the number of pins selected on the development board should satisfy l ≥ 2n. Connect the development board to n linear drivers via the driver amplifier.

[0034] In this embodiment, 2n pins are set to output signals, of which n output high level and n output low level 0V. Each pair of pins can control a linear driver, so n push rods can be controlled to operate. In this embodiment, pins 1 and 2 control the first linear driver, pins 3 and 4 control the second linear driver, and similarly, pins (2n-1) and 2n control the nth linear driver.

[0035] For any pair of pins (2s-1) and 2s of the linear driver s, if both pins output a low level, the linear driver s stops operating; if pin (2s-1) outputs a high level and pin 2s outputs a low level, the linear driver s motor rotates forward and the linear driver s push rod extends; if pin (2s-1) outputs a low level and pin 2s outputs a high level, the linear driver s motor rotates in reverse and the linear driver s push rod shortens.

[0036] Based on the pin assignment, define the lower-level machine control logic. The specific method is as follows: Define the control state of the linear driver s. When the input value is 0, the linear driver s motor rotates forward and the linear driver s push rod extends; when the input value is 1, the linear driver s stops operating; when the input value is 2, the linear driver s motor rotates in reverse and the linear driver s push rod shortens.

[0037] Define the pins (2s-1) and 2s corresponding to the linear driver s, and set the relationship between the high and low levels of the pin output and the actuation and control states of the linear driver s; the linear driver s changes its actuation state in real time according to the control state signal.

[0038] Step 4: Preset the motion trajectory of the modular manipulator; establish the kinematic model of the manipulator, and obtain the functional relationship between the drive control parameters and time through inverse kinematic model solution.

[0039] When obtaining the functional relationship between the drive control parameters and time, the functional relationship between the drive control parameters and the end-effector posture of the modular manipulator is obtained by inverse kinematics model of the established manipulator; specifically, the following process is included: Let the modular manipulator's first... N The coordinate transformation matrix from the static platform to the moving platform of each module is T. N The coordinate transformation matrix from the static platform to the moving platform of the modular manipulator system is:

[0040] (1.1)

[0041] Let the position vector be used to describe the attitude of the static platform of the modular manipulator. and direction vector The rotation matrix of the modular manipulator is directly obtained through the coordinate transformation matrix T, denoted by A. The pose of the modular manipulator's moving platform is then represented by the position vector p and the direction vector d as follows:

[0042] (1.2)

[0043] (1.3)

[0044] Based on the kinematic model and combined with geometric relationships, the inverse kinematics solution of the modular manipulator is obtained, that is, the driving control parameters of each linear actuator are obtained based on the known end-effector pose of the modular manipulator.

[0045] Based on the planned motion trajectory of the modular manipulator, the functional relationship between the end pose of the modular manipulator and the end pose of each module's moving platform and time is obtained at each moment; the functional relationship between the drive control parameters of each linear actuator and time is derived.

[0046] Step 5: Based on the control logic described in Step 3 and the functional relationship described in Step 4, drive multiple linear actuators to enable the modular manipulator to work collaboratively to complete the preset trajectory task. In specific applications, software can be written as needed to program the functional relationship between the driving control parameters of each linear actuator and time, converting it into a host computer drive control program. The control signals are then transmitted to the lower computer, which, according to the control logic instructions, drives the multiple linear actuators of the modular manipulator to work collaboratively to complete the preset motion trajectory.

[0047] This embodiment of the disclosure takes a tetrahedral manipulator with five modules as an example for drive control. The specific control steps are as follows:

[0048] The analysis of the operating arm described in the embodiment, such as Figure 2 As shown, the tetrahedral manipulator has five modules, with a total of 5 modules. Each module is connected by a linear actuator 1 in a straight line, meaning there are a total of 4 linear actuators 1.

[0049] In this embodiment, the linear driver 1 is powered by a DC constant voltage power supply, and the driving linear speed can be regarded as constant. The extension or shortening distance can be controlled by adjusting the driving time, and the extension or shortening of the linear driver 1 can be controlled by the positive or negative voltage of the input terminal.

[0050] Based on the aforementioned analysis results, it is proposed to use two driving control parameters—control time and positive / negative input voltage—to drive and control the operation of a single linear actuator 1; the driving effect is good, proceed to the next step;

[0051] The development board, driver amplifier, and linear driver 1 are connected. In this embodiment, one development board (STM32) and two driver amplifiers are used, one of which is connected to two linear drivers 1.

[0052] The hardware connection method is as follows:

[0053] Connect the development board's input interface to the computer's serial port using a data cable. Define eight pins on the development board (PB0, PB1, PA4, PA5, PA6, PA7, PB6, PB7) as control signals, controlling one linear driver 1 in pairs. Connect two pins (e.g., PB0 and PB1) to the signal input terminals A and B of a driver amplifier module, and connect another pair (e.g., PA4 and PA5) to the signal input terminals C and D of the same driver amplifier module. Repeat this process for another driver amplifier module until all eight pins correspond to the eight signal input terminals.

[0054] The positive and negative terminals of the linear driver 1 are connected to the output terminals of the drive amplifier module. In this embodiment, the drive amplifier is powered by 5V DC, and its ground terminal is connected to the ground terminal of the development board to avoid the generation of floating signals.

[0055] This embodiment involves writing a lower-level control logic program for the coordinated operation of the four linear actuators 1 included in the manipulator. Then, a preset motion trajectory is established. Based on the established tetrahedral manipulator prototype with five modules, the inverse kinematics is solved to obtain the function of drive control parameters versus time. An upper-level drive control program is then written, and the upper-level control parameters are input. The initial state, torsional state, downward bending, and upward bending constitute the preset trajectory. Ultimately, the coordinated operation of multiple linear actuators 1 in this embodiment is achieved, thereby completing the preset trajectory.

[0056] The above embodiments are merely preferred analytical examples of this application, intended only to enable those skilled in the art to understand or implement this application. Various modifications to the embodiments will be readily apparent to those skilled in the art, and the general principles and methods defined herein may appear in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0057] As is known from common technical knowledge, this invention can be implemented through other embodiments that do not depart from its spirit or essential characteristics. Therefore, the disclosed embodiments described above are merely illustrative in all respects and are not the only ones. All modifications within the scope of this invention or its equivalents are included in this invention.

Claims

1. A modular operating arm cooperative drive control method for multi-straight line drive, characterized by Includes the following steps: Step 1: Analyze the modular manipulator drive system to obtain the number of linear actuators and their actuation parameters. Step 2: Select the linear actuator drive control parameters; use the selected drive control parameters as input to drive a single linear actuator and determine whether the linear actuator can achieve controllable actuation; if not, repeat step 2. If yes, use the selected linear actuator drive control parameters as the drive control parameters for all linear actuators. Step 3: Set the lower-level machine control logic for the coordinated operation of multiple linear drives; Step 4: Plan and formulate the motion trajectory of the modular manipulator; establish the kinematic model of the manipulator, and obtain the functional relationship between the drive control parameters and time through inverse kinematic model solution; Step 5: Based on the control logic described in Step 3 and the functional relationship described in Step 4, convert the motion trajectory into upper computer drive control program instructions, drive multiple linear actuators, and enable the modular manipulator to work together to complete the preset trajectory task.

2. The method according to claim 1, wherein: When the selected linear driver drive control parameters are used as the drive control parameters for all linear drivers, a development board is used as the lower-level machine to drive and control multiple linear drivers; the development board is connected to all linear drivers via a drive amplifier. The number of linear drivers is n ; the number of development board pins is l ; and the number of selected development board pins satisfies l ≥ 2 n .

3. The method of claim 2, wherein the method further comprises: The lower-level machine control logic for setting up the coordinated operation of multiple linear drivers specifically includes the following processes: The development board is configured to have 2 n Each pin outputs a signal, among which n One output high level, n Each pin outputs a low level; every two pins control one linear driver. For any linear actuator s , provide pins (2 s -1) and 2 s control linear actuator s ; Setting up a linear actuator s The corresponding pin (2 s -1) and 2 s Output high, low level and linear actuator s Control state relationship; Define a linear driver s The control state is such that when the input value is 1, the linear actuator is controlled. s Two pins (2 s -1) and 2 s All output low level, linear driver s Stop the action; When the input value is 0, control the linear actuator. s pins (2) s -1) Output high level, pin 2 s The output is low, at which point the linear driver... s The motor rotates forward, and the linear driver is used. s The push rod extends; When the input value is 2, the linear actuator is controlled. s pins (2) s -1) Output low level, pin 2 s The output is high, at which point the linear driver... s Motor reverses, linear driver s The push rod is shortened.

4. The method of claim 3, wherein: When obtaining the functional relationship between the drive control parameters and time, the functional relationship between the drive control parameters and the end-effector posture of the modular manipulator is obtained by inverse kinematics model of the established manipulator; then, based on the planned motion trajectory of the modular manipulator, the functional relationship between the end-effector posture of the modular manipulator and the end-effector posture of each module moving platform and time is obtained at each moment; the functional relationship between the drive control parameters of each linear actuator and time is derived.

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