Joint acceleration driven redundancy manipulator uniform wear motion control method

Abstract

The application discloses a kind of joint acceleration driven redundancy manipulator uniform wear motion control method, it is related to manipulator motion planning technical field, it can also be used in financial field.Therein, the method includes: constructing the wear uniformity parameter of each joint of redundancy manipulator in the desired repetitive motion, wherein the smaller the value of the wear uniformity parameter, the more uniform the wear of each joint of the redundancy manipulator;According to the wear uniformity parameter representation, the motion control optimization scheme of the redundancy manipulator in the acceleration layer is established, wherein the motion control optimization scheme minimizes wear uniformity parameter as optimization goal;According to the motion control optimization scheme, the acceleration information of each joint of the redundancy manipulator is solved;The acceleration information of each joint is sent to controller, and the controller is used to drive the redundancy manipulator to track the desired motion trajectory according to the acceleration information of each joint to carry out uniform wear motion.

Description

Technical Field

[0001] This invention relates to the field of robotic arm motion planning technology, and can also be used in the financial field, particularly to a method for uniform wear motion control of redundant robotic arms driven by joint acceleration. Background Technology

[0002] Redundant robotic arms possess a greater degree of freedom than the minimum required for the task space. This characteristic allows them to simultaneously fulfill other requirements, such as energy consumption, joint constraints, and posture control, significantly improving their flexibility. Therefore, compared to non-redundant robotic arms, redundant robotic arms have a greater advantage in completing complex and challenging tasks. During production, robotic arms need to maintain uniform movement when performing various tasks to improve efficiency and reduce error rates. Furthermore, uniform movement helps protect the robotic arm and the working environment. Speed ​​and position control are crucial when performing tasks. Uneven movement reduces efficiency and affects work quality. Robotic arm components are subjected to continuous impacts and friction during movement; uneven movement leads to greater wear between components, thus affecting the robotic arm's lifespan.

[0003] Previous motion planning schemes mostly drove robotic arm movement through joint velocities, rarely considering robotic arm wear and tear, and thus could not fully meet the needs of practical applications. Velocity-based schemes may encounter discontinuous joint velocities during the solution process, leading to uneven robotic arm movement and impacting work efficiency.

[0004] This section is intended to provide background or context for the embodiments of the invention set forth in the claims. The description herein is not an admission that it is prior art simply because it is included in this section. Summary of the Invention

[0005] This invention provides a method and apparatus for uniform wear motion control of a redundant robotic arm driven by joint acceleration, which can at least partially solve the problems existing in the prior art.

[0006] On one hand, embodiments of the present invention provide a method for uniform wear motion control of a redundant robotic arm driven by joint acceleration, the method comprising:

[0007] The wear uniformity parameter of each joint in a redundant robotic arm driven by joint acceleration is represented by the wear uniformity parameter in the desired repetitive motion, wherein the smaller the value of the wear uniformity parameter, the more uniform the wear of each joint in the redundant robotic arm.

[0008] Based on the wear uniformity parameter, a motion control optimization scheme for the redundant robotic arm driven by joint acceleration is established at the acceleration layer, wherein the motion control optimization scheme takes the minimum wear uniformity parameter as the optimization objective.

[0009] Based on the motion control optimization scheme of the acceleration layer, the acceleration information of each joint of the redundant robotic arm is solved;

[0010] The acceleration information of each joint is sent to the controller, which drives the joint acceleration-driven redundant robotic arm to track the desired motion trajectory and perform uniform wear motion based on the acceleration information of each joint.

[0011] In some embodiments, the wear uniformity parameter representation of each joint in the constructed joint acceleration-driven redundant robotic arm during the desired repetitive motion includes:

[0012] Based on the joint angle parameters of each joint of the redundant robotic arm driven by joint acceleration during the desired repetitive motion, and the standard angle value parameter of that joint, a parameter representation of the wear uniformity of each joint of the redundant robotic arm driven by joint acceleration during the desired repetitive motion is constructed.

[0013] In some embodiments, the wear uniformity parameter of each joint is represented as the integral of the difference between a first vector composed of joint angle parameters of each joint and a second vector composed of standard joint angle parameters of each joint in the desired repetitive motion of the redundant robot arm.

[0014] In some embodiments, solving for the acceleration information of each joint of the redundant robotic arm according to the motion control optimization scheme of the acceleration layer includes:

[0015] Based on the motion control optimization scheme of the acceleration layer and the constraints of the redundant manipulator in the desired repetitive motion, the acceleration information of each joint of the redundant manipulator driven by joint acceleration is solved.

[0016] In some embodiments, the method further includes:

[0017] Based on the Jacobian matrix of the redundant manipulator, the actual position parameters of the end effector of the redundant manipulator when performing repetitive tasks, and the position, velocity, and acceleration parameters of the end effector of the redundant manipulator during the desired repetitive motion process, establish the Jacobian equation constraint for the joint acceleration of the redundant manipulator; and / or

[0018] Based on the set of joint acceleration values ​​of the redundant robotic arm in the desired repetitive motion, a constraint on the magnitude of the joint acceleration of the redundant robotic arm is established.

[0019] In some embodiments, solving for the acceleration information of each joint of the redundant robotic arm according to the motion control optimization scheme of the acceleration layer includes:

[0020] The motion control optimization scheme of the acceleration layer is transformed into a piecewise projection equation system;

[0021] At least one set of dynamic parameters for overcoming noise interference is introduced into the piecewise projection equations to generate a numerical iterative model with noise resistance.

[0022] The numerical iterative model with noise resistance is solved to obtain the acceleration information of each joint of the redundant robotic arm.

[0023] On the other hand, embodiments of the present invention provide a motion control device for uniform wear of a redundant robotic arm driven by joint acceleration, the device comprising:

[0024] A construction module is used to construct a wear uniformity parameter representation of each joint of a redundant robotic arm driven by joint acceleration during the desired repetitive motion, wherein the smaller the value of the wear uniformity parameter, the more uniform the wear of each joint of the redundant robotic arm.

[0025] The first establishment module is used to establish a motion control optimization scheme for the redundant robotic arm driven by the joint acceleration in the acceleration layer based on the wear uniformity parameter, wherein the motion control optimization scheme takes the minimum wear uniformity parameter as the optimization objective.

[0026] The solution module is used to solve for the acceleration information of each joint of the redundant robotic arm according to the motion control optimization scheme of the acceleration layer.

[0027] The transmitting module is used to send the acceleration information of each joint to the controller, which is used to drive the joint acceleration-driven redundant robotic arm to track the desired motion trajectory and perform uniform wear motion based on the acceleration information of each joint.

[0028] In some embodiments, the building module is specifically used for:

[0029] Based on the joint angle parameters of each joint of the redundant robotic arm driven by joint acceleration during the desired repetitive motion, and the standard angle value parameter of that joint, a parameter representation of the wear uniformity of each joint of the redundant robotic arm driven by joint acceleration during the desired repetitive motion is constructed.

[0030] In some embodiments, the wear uniformity parameter of each joint is represented as the integral of the difference between a first vector composed of joint angle parameters of each joint and a second vector composed of standard joint angle parameters of each joint in the desired repetitive motion of the redundant robot arm.

[0031] In some embodiments, the solving module is specifically used for:

[0032] Based on the motion control optimization scheme of the acceleration layer and the constraints of the redundant manipulator in the desired repetitive motion, the acceleration information of each joint of the redundant manipulator driven by joint acceleration is solved.

[0033] In some embodiments, the apparatus further includes a second establishment module, the second establishment module being configured to:

[0034] Based on the Jacobian matrix of the redundant manipulator, the actual position parameters of the end effector of the redundant manipulator when performing repetitive tasks, and the position, velocity, and acceleration parameters of the end effector of the redundant manipulator during the desired repetitive motion process, establish the Jacobian equation constraint for the joint acceleration of the redundant manipulator; and / or

[0035] Based on the set of joint acceleration values ​​of the redundant robotic arm in the desired repetitive motion, a constraint on the magnitude of the joint acceleration of the redundant robotic arm is established.

[0036] In some embodiments, the solving module is specifically used for:

[0037] The motion control optimization scheme of the acceleration layer is transformed into a piecewise projection equation system;

[0038] At least one set of dynamic parameters for overcoming noise interference is introduced into the piecewise projection equations to generate a numerical iterative model with noise resistance.

[0039] The numerical iterative model with noise resistance is solved to obtain the acceleration information of each joint of the redundant robotic arm.

[0040] This invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the above-mentioned method for uniform wear motion control of a redundant robotic arm driven by joint acceleration.

[0041] This invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the aforementioned method for uniform wear motion control of a redundant robotic arm driven by joint acceleration.

[0042] This invention also provides a computer program product, which includes a computer program that, when executed by a processor, implements the aforementioned method for uniform wear motion control of a redundant robotic arm driven by joint acceleration.

[0043] The invention provides a method and apparatus for uniform wear motion control of a redundant robotic arm driven by joint acceleration. This method establishes a wear uniformity parameter representation for each joint of the redundant robotic arm driven by joint acceleration during movement along a desired trajectory. This wear uniformity parameter representation is then extended to the joint acceleration layer to obtain an optimized motion control scheme for the redundant robotic arm at the acceleration layer. The optimized motion control scheme is then solved to obtain the acceleration information of each joint of the redundant robotic arm. Based on the acceleration information of each joint, the redundant robotic arm driven by joint acceleration is controlled to track the desired trajectory. This enables the redundant robotic arm driven by joint acceleration to achieve uniform wear to the greatest extent possible, solving the problem of uneven robotic arm movement caused by discontinuous joint speeds, which affects work efficiency. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings:

[0045] Figure 1 This is a schematic flowchart of a motion control method for uniform wear of a redundant robotic arm driven by joint acceleration, provided in an embodiment of this application.

[0046] Figure 2 This is a partial flowchart illustrating a motion control method for uniform wear of a redundant robotic arm driven by joint acceleration, provided in one embodiment of this application.

[0047] Figure 3 This is a schematic flowchart of a motion control method for uniform wear of a redundant robotic arm driven by joint acceleration, provided in an embodiment of this application.

[0048] Figure 4 This is a schematic diagram of the structure of a joint acceleration driven redundancy robotic arm uniform wear motion control device provided in one embodiment of this application.

[0049] Figure 5 This is a schematic diagram of the physical structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Here, the illustrative embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0051] The terms “first,” “second,” etc., used in this document are not intended to specifically refer to order or sequence, nor are they used to limit this application; they are merely used to distinguish elements or operations described using the same technical terms.

[0052] The terms “include,” “including,” “have,” “contain,” etc., used in this article are all open-ended terms, meaning that they include but are not limited to.

[0053] The term "and / or" as used in this document includes any or all of the items mentioned.

[0054] To better understand this application, the research background of this application will be explained in detail below.

[0055] Previous motion planning schemes rarely considered the wear and tear of robotic arms and mostly relied on joint velocity-driven methods, ignoring the limitations of joint acceleration. This can lead to sudden changes in joint velocity and a surge in joint acceleration during the solution process, which clearly violates the laws of physics. Furthermore, the solution schemes used have limited noise suppression capabilities and are easily affected by time-varying noise. However, in actual production, noise is ubiquitous. Whether it is constant noise, time-varying noise, or random noise, it will affect the motion of redundant robotic arms to some extent, causing them to deviate from the predetermined trajectory and even harming nearby workers.

[0056] The execution subject of the joint acceleration-driven redundancy robotic arm uniform wear motion control method provided in this application embodiment includes, but is not limited to, a computer.

[0057] Figure 1 This is a flowchart illustrating a method for uniform wear motion control of a redundant robotic arm driven by joint acceleration, according to an embodiment of this application. Figure 1 As shown in the embodiments of this application, the method for uniform wear motion control of a redundant robotic arm driven by joint acceleration includes:

[0058] S101. The wear uniformity parameter of each joint in the desired repetitive motion of the redundant robotic arm driven by joint acceleration is represented by the wear uniformity parameter, wherein the smaller the value of the wear uniformity parameter, the more uniform the wear of each joint of the redundant robotic arm.

[0059] In step S101, the repetitive motion of the robotic arm means that, in order to ensure the repeatability of the robotic arm when performing tasks, the repetitive motion requires that each joint of the robotic arm can return to its initial state after completing a cycle of closing the end trajectory. In this way, it can be ensured that the initial state of the robotic arm is consistent in each cycle of motion.

[0060] Specifically, a wear uniformity parameter representation for each joint can be constructed based on parameters related to the wear condition of each joint during the desired repetitive motion of the redundant robotic arm. This wear degree parameter representation serves as an optimization index for the motion control method of uniform wear of the redundant robotic arm driven by joint acceleration.

[0061] The smaller the value of the wear uniformity parameter, the more uniform the wear of each joint of the redundant robotic arm; conversely, the wear is more uneven. Specifically, for the robotic arm, assuming sigma_m is the standard natural state, the rotation is divided into two directions: one is rotation in the direction greater than the standard value, which is recorded as positive wear, and the other is rotation in the direction less than the standard value, which is recorded as negative wear. This wear can be accumulated using an integral formula. The smaller the integral, the more consistent the wear is between the top and bottom, which can be considered as relatively uniform wear; the larger the integral, the opposite is true.

[0062] S102. Based on the wear uniformity parameter, establish a motion control optimization scheme for the redundant robotic arm driven by joint acceleration in the acceleration layer, wherein the motion control optimization scheme takes the minimum wear uniformity parameter as the optimization objective.

[0063] In step S102, to adapt to the redundant robotic arm driven by joint acceleration, the aforementioned optimization index—wear uniformity parameter—needs to be extended to the joint acceleration layer, resulting in a motion control optimization scheme for the redundant robotic arm driven by joint acceleration at the acceleration layer. This motion control optimization scheme is used to ensure minimal cumulative wear while completing the desired repetitive motion. The acceleration-based motion planning method focuses on solving for joint acceleration and takes into account the triple constraints of joint angle, velocity, and acceleration, which is sufficient to solve the problem that discontinuous joint velocities may occur during the solution process in velocity-based schemes, leading to uneven robotic arm motion and affecting work efficiency.

[0064] S103. Based on the motion control optimization scheme of the acceleration layer, solve for the acceleration information of each joint of the redundant robotic arm;

[0065] In step S103, since the acceleration information of each joint is obtained by minimizing the value of the wear uniformity parameter, the redundant robotic arm driven by the joint acceleration is driven by the acceleration information of each joint to track the desired motion trajectory, which enables the redundant robotic arm driven by the joint acceleration to achieve uniform wear to the greatest extent.

[0066] S104. The acceleration information of each joint is sent to the controller, which is used to drive the joint acceleration-driven redundant robotic arm to track the desired motion trajectory and perform uniform wear motion according to the acceleration information of each joint.

[0067] In step S104, the joint acceleration information can first be converted into a control signal that can drive the robotic arm to move. The control signal is then transmitted to the controller, so that the controller drives the redundant robotic arm to track the desired motion trajectory and complete the task. Specifically, the controller drives each joint of the redundant robotic arm to move according to the acceleration information corresponding to that joint, thereby enabling the redundant robotic arm to achieve maximum uniform wear during the process of tracking the desired motion trajectory.

[0068] The invention provides a method for uniform wear motion control of a redundant robotic arm driven by joint acceleration. This method establishes a wear uniformity parameter representation for each joint of the redundant robotic arm during a desired motion trajectory. This wear uniformity parameter representation is then extended to the joint acceleration layer to obtain an optimized motion control scheme for the redundant robotic arm at the acceleration layer. The optimized motion control scheme is then solved to obtain the acceleration information of each joint of the redundant robotic arm. Based on the acceleration information of each joint, the redundant robotic arm is controlled to track the desired motion trajectory. This method enables the redundant robotic arm to achieve uniform wear to the greatest extent possible, solving the problem of uneven robotic arm movement and reduced work efficiency caused by discontinuous joint speeds.

[0069] In some embodiments, constructing a wear uniformity parameter representation of each joint of the joint acceleration-driven redundant manipulator during the desired repetitive motion includes: constructing a wear uniformity parameter representation of each joint of the joint acceleration-driven redundant manipulator during the desired repetitive motion based on the joint angle parameter of each joint and the standard angle value parameter of the joint.

[0070] Specifically, the wear uniformity of each joint of the robotic arm is related to the difference between the standard angle values ​​of that joint during its movement. Therefore, the wear uniformity parameter representation of each joint of the redundant robotic arm driven by joint acceleration during the desired repetitive motion can be constructed based on the joint angle parameters of each joint and the standard angle value parameters of that joint during the desired repetitive motion.

[0071] In some embodiments, the wear uniformity parameter of each joint is represented as the integral of the difference between a first vector composed of joint angle parameters of each joint and a second vector composed of standard joint angle parameters of each joint in the desired repetitive motion of the redundant robot arm.

[0072] Specifically, the wear uniformity parameter of each joint, that is, the optimization index of the redundancy manipulator uniform wear motion control method driven by joint acceleration, can be expressed as:

[0073]

[0074] in, Used to represent the cumulative wear of the robotic arm, σ(τ) represents the vector composed of the joint angles of each joint. m This represents a vector consisting of standard values ​​of joint angles available for reference at each joint, where t represents time, and τ ranges from 0 to t. Generally, the joint angles can be considered to be within σ... m Changes based on the basics The smaller the value, the more uniform the wear on the robotic arm; conversely, the smaller the value, the more uneven the wear.

[0075] To accommodate the redundant robotic arm driven by joint acceleration, this optimization index needs to be extended to the joint acceleration layer, resulting in a motion control optimization scheme for the redundant robotic arm driven by joint acceleration at the acceleration layer. This motion control optimization scheme can be expressed as:

[0076] minimize in,

[0077]

[0078] and b1, b2, and b3 are vectors composed of the angular velocities of each joint of the robotic arm and the angular accelerations of each joint of the robotic arm, respectively. All three parameters are greater than 0.

[0079] In some embodiments, solving for the acceleration information of each joint of the redundant robotic arm according to the motion control optimization scheme of the acceleration layer includes: solving for the acceleration information of each joint of the redundant robotic arm driven by the joint acceleration according to the motion control optimization scheme of the acceleration layer and the constraint conditions of the redundant robotic arm in the desired repetitive motion.

[0080] Specifically, in order to ensure that the robotic arm can complete the predefined task, that is, to ensure that the robotic arm can complete the expected repetitive motion, it is necessary to add constraints to the control scheme, such as adding the Jacobian equation constraint for the joint acceleration of the redundant robotic arm and / or the constraint on the magnitude of the joint acceleration.

[0081] In some embodiments, the method further includes:

[0082] Based on the Jacobian matrix of the redundant manipulator, the actual position parameters of the end effector of the redundant manipulator when performing repetitive tasks, and the position, velocity, and acceleration parameters of the end effector of the redundant manipulator during the desired repetitive motion process, establish the Jacobian equation constraint for the joint acceleration of the redundant manipulator; and / or

[0083] Based on the set of joint acceleration values ​​of the redundant robotic arm in the desired repetitive motion, a constraint on the magnitude of the joint acceleration of the redundant robotic arm is established.

[0084] Specifically, the Jacobian equation constraint for the joint acceleration of the redundant robotic arm can be expressed as:

[0085]

[0086]

[0087] in, and Let J represent the vectors composed of the angular velocities and angular accelerations of the joints of the robotic arm, respectively, and let J represent the Jacobian matrix of the robotic arm. R is the time derivative of J. s , and R is the position, velocity, and acceleration of the robotic arm's end effector during the desired repetitive motion. e θ represents the actual position of the end effector performing repetitive tasks, d0 > 0 and d1 > 0 are the position error feedback coefficient and velocity error feedback coefficient, and Θ represents the set of values ​​for joint acceleration.

[0088] like Figure 2As shown, in some embodiments, solving for the acceleration information of each joint of the redundant robotic arm according to the motion control optimization scheme of the acceleration layer includes:

[0089] S1031. Transform the motion control optimization scheme of the acceleration layer into a piecewise projection equation set;

[0090] In step S1031, the above acceleration layer motion control optimization scheme can be transformed into a problem of solving piecewise projection equations using the Lagrange multiplier method. The piecewise projection equations are expressed as follows:

[0091]

[0092]

[0093] in, P Θ This represents a piecewise projection function. and λ and x represent the upper and lower limits of joint angular acceleration, respectively, λ is the Lagrange multiplier, and x represents the independent variable.

[0094] S1032. Introduce at least one set of dynamic parameters to overcome noise interference into the piecewise projection equation set to generate a numerical iterative model with noise resistance.

[0095] In step S1032, for example, two sets of dynamic parameters can be introduced into the piecewise projection equations to overcome noise interference, thus addressing the effects of constant noise and time-varying noise at the joint acceleration layer. Specifically, based on the characteristic that time-varying noise can be fitted by an nth-order time-varying polynomial, the noise-resistant numerical iterative model can be designed as follows:

[0096]

[0097]

[0098]

[0099]

[0100] in, ξ is a design parameter that controls the convergence speed of the algorithm, x1, x2, ..., x n and y0, y1, ..., y n These are two sets of parameters used to overcome noise interference, c0, c1, ..., c n It is a set of real coefficients and satisfies equation c. n +sc n-1 +s 2 cn-2 +…+s n c0+s n+1 All roots of 0 lie in the left half of the coordinate plane.

[0101] S1033. Solve the numerical iterative model with noise resistance to obtain the acceleration information of each joint of the redundant robotic arm.

[0102] In step S1033, the ODE function (used to solve differential equations) can be used, or Runge-Kutta can be used to discretize and solve the numerical iterative model with noise resistance.

[0103] To better understand this application, the following detailed description of the joint acceleration-driven redundancy robotic arm uniform wear motion control method provided in this application is given through a specific embodiment.

[0104] This embodiment provides a method for uniform wear motion control of a redundant robotic arm driven by joint acceleration with noise reduction function, aiming to solve the influence of uneven wear and noise on the motion of the redundant robotic arm at the joint acceleration layer.

[0105] Figure 3 This embodiment provides a method for uniform wear motion control of a redundant robotic arm with joint acceleration drive and noise reduction function, such as... Figure 3 As shown, the method includes:

[0106] S1. Construct a motion control optimization scheme for a redundant robotic arm driven by joint acceleration to optimize uniform wear;

[0107] S2. For the scheme in S1, the problem is transformed into solving a piecewise projection equation using the Lagrange multiplier method.

[0108] S3. For the piecewise projection equation in S2, the acceleration information of each joint is solved by a noise-resistant numerical iterative model.

[0109] S4. The joint acceleration obtained in S3 is transmitted to the controller to drive the redundant robotic arm to complete the task. The minimization index of the uniform wear motion control optimization scheme of the redundant robotic arm driven by joint acceleration in step S1 is expressed as:

[0110]

[0111] in, Used to represent the cumulative wear of the robotic arm, σ(τ) represents the joint angle vector, σ m This represents a standard vector of joint angles available for reference. Generally, the joint angles can be considered to be within σ. m Changes based on the basics The smaller the value, the more uniform the wear on the robotic arm; conversely, the smaller the value, the more uneven the wear. To accommodate redundant robotic arms driven by joint acceleration, this optimization index needs to be extended to the joint acceleration layer, as shown below:

[0112] minimize in,

[0113]

[0114] and b1, b2, and b3 are vectors composed of the angular velocities of each joint of the robotic arm and the angular accelerations of each joint of the robotic arm, respectively. All three parameters are greater than 0.

[0115] To ensure that the robotic arm can complete the predefined tasks, the following constraints need to be added to the control scheme.

[0116]

[0117]

[0118] in, and Let represent the joint angular velocity vector and the joint angular acceleration vector, respectively, and J represent the Jacobian matrix of the robotic arm. It is its time derivative, R s , and R is the position, velocity, and acceleration of the end effector during the desired repetitive motion. e θ represents the actual position of the end effector performing repetitive tasks, d0>0 and d1>0 are the position error feedback coefficient and velocity error feedback coefficient, and Θ represents the set of values ​​for joint acceleration.

[0119] Step S2 transforms the noise-resistant acceleration-layer-based optimization scheme from step S1 into a problem of solving piecewise projection equations using the Lagrange multiplier method. The piecewise projection equations are expressed as follows:

[0120]

[0121]

[0122] in, P Θ This represents a piecewise projection function. and λ represents the upper and lower limits of joint angular acceleration, respectively, and λ is a Lagrange multiplier.

[0123] Step S3 uses a noise-resistant numerical iterative model to solve the piecewise projection equations in step S2 to obtain acceleration information for each joint and control the repetitive motion of the redundant robotic arm. During the solution process, two sets of dynamic parameters are introduced to learn the noise characteristics and solve the effects of constant noise and time-varying noise at the joint acceleration layer. This has great practical significance for the repetitive motion control of the redundant robotic arm.

[0124] Based on the property that time-varying noise can be fitted by an nth-order time-varying polynomial, the noise-resistant numerical iterative model is designed as follows:

[0125]

[0126]

[0127]

[0128]

[0129] in, ξ is a design parameter that controls the convergence speed of the algorithm, x1, x2, ..., x n and y0, y1, ..., y n These are two sets of parameters used to overcome noise interference, c0, c1, ..., c n It is a set of real coefficients and satisfies equation c. n +sc n-1 +s 2 c n-2 +…+s n c0+s n+1 All roots of 0 lie in the left half of the coordinate plane.

[0130] Step S4 converts the joint acceleration information obtained from the numerical iterative model solution in step S3 into a control signal that can drive the movement of the robotic arm, and transmits it to the controller to drive the redundant robotic arm to track the desired motion trajectory and complete the task.

[0131] This invention also provides a motion control device for uniform wear of a redundant robotic arm driven by joint acceleration, as described in the following embodiments. Since the principle by which this device solves the problem is similar to the motion control method for uniform wear of a redundant robotic arm driven by joint acceleration, the implementation of this device can refer to the implementation of the motion control method for uniform wear of a redundant robotic arm driven by joint acceleration; repeated details will not be elaborated further.

[0132] Figure 4 This is a schematic diagram of the structure of a joint acceleration-driven redundancy robotic arm uniform wear motion control device according to an embodiment of this application, as shown below. Figure 4As shown in the embodiment of this application, the redundancy robotic arm uniform wear motion control device driven by joint acceleration includes:

[0133] Module 21 is used to construct a wear uniformity parameter representation of each joint of a redundant robotic arm driven by joint acceleration during the desired repetitive motion, wherein the smaller the value of the wear uniformity parameter, the more uniform the wear of each joint of the redundant robotic arm.

[0134] The first establishment module 22 is used to establish a motion control optimization scheme for the redundant robotic arm driven by the joint acceleration in the acceleration layer based on the wear uniformity parameter representation, wherein the motion control optimization scheme takes the minimum wear uniformity parameter as the optimization objective.

[0135] Solving module 23 is used to solve the acceleration information of each joint of the redundant robotic arm according to the motion control optimization scheme of the acceleration layer;

[0136] The sending module 24 is used to send the acceleration information of each joint to the controller, which is used to drive the joint acceleration-driven redundant robotic arm to track the desired motion trajectory and perform uniform wear motion based on the acceleration information of each joint.

[0137] The joint acceleration-driven redundant robotic arm uniform wear motion control device provided in this embodiment of the invention establishes a wear uniformity parameter representation of each joint of the joint-acceleration-driven redundant robotic arm when it moves along the desired motion trajectory, and extends this wear uniformity parameter representation to the joint acceleration layer to obtain a motion control optimization scheme for the joint acceleration-driven redundant robotic arm at the acceleration layer. Then, the motion control optimization scheme is solved to obtain the acceleration information of each joint of the redundant robotic arm. Based on the acceleration information of each joint, the joint acceleration-driven redundant robotic arm is controlled to track the desired motion trajectory. In this way, the joint acceleration-driven redundant robotic arm can achieve uniform wear to the greatest extent, solving the problem of uneven robotic arm movement caused by discontinuous joint speed, which affects work efficiency.

[0138] In some embodiments, the building module is specifically used for:

[0139] Based on the joint angle parameters of each joint of the redundant robotic arm driven by joint acceleration during the desired repetitive motion, and the standard angle value parameter of that joint, a parameter representation of the wear uniformity of each joint of the redundant robotic arm driven by joint acceleration during the desired repetitive motion is constructed.

[0140] In some embodiments, the wear uniformity parameter of each joint is represented as the integral of the difference between a first vector composed of joint angle parameters of each joint and a second vector composed of standard joint angle parameters of each joint in the desired repetitive motion of the redundant robot arm.

[0141] In some embodiments, the solving module is specifically used for:

[0142] Based on the motion control optimization scheme of the acceleration layer and the constraints of the redundant manipulator in the desired repetitive motion, the acceleration information of each joint of the redundant manipulator driven by joint acceleration is solved.

[0143] In some embodiments, the apparatus further includes a second establishment module, the second establishment module being configured to:

[0144] Based on the Jacobian matrix of the redundant manipulator, the actual position parameters of the end effector of the redundant manipulator when performing repetitive tasks, and the position, velocity, and acceleration parameters of the end effector of the redundant manipulator during the desired repetitive motion process, establish the Jacobian equation constraint for the joint acceleration of the redundant manipulator; and / or

[0145] Based on the set of joint acceleration values ​​of the redundant robotic arm in the desired repetitive motion, a constraint on the magnitude of the joint acceleration of the redundant robotic arm is established.

[0146] In some embodiments, the solving module is specifically used for:

[0147] The motion control optimization scheme of the acceleration layer is transformed into a piecewise projection equation system;

[0148] At least one set of dynamic parameters for overcoming noise interference is introduced into the piecewise projection equations to generate a numerical iterative model with noise resistance.

[0149] The numerical iterative model with noise resistance is solved to obtain the acceleration information of each joint of the redundant robotic arm.

[0150] This invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the above-described method.

[0151] This invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the aforementioned method for uniform wear motion control of a redundant robotic arm driven by joint acceleration.

[0152] This invention also provides a computer program product, which includes a computer program that, when executed by a processor, implements the aforementioned method for uniform wear motion control of a redundant robotic arm driven by joint acceleration.

[0153] In this embodiment of the invention, compared with the technical solutions in the prior art, by establishing a wear uniformity parameter representation of each joint of the redundant robotic arm driven by joint acceleration when it moves along the desired motion trajectory, and extending this wear uniformity parameter representation to the joint acceleration layer, a motion control optimization scheme for the redundant robotic arm driven by joint acceleration at the acceleration layer is obtained. Then, the motion control optimization scheme is solved to obtain the acceleration information of each joint of the redundant robotic arm. Based on the acceleration information of each joint, the redundant robotic arm driven by joint acceleration is controlled to track the desired motion trajectory, which enables the redundant robotic arm driven by joint acceleration to achieve uniform wear to the greatest extent.

[0154] Figure 5 This is a schematic diagram of the physical structure of an electronic device provided in an embodiment of the present invention, such as... Figure 5 As shown, the electronic device includes a processor 301, a memory 302, and a bus 303.

[0155] The processor 301 and the memory 302 communicate with each other via the bus 303.

[0156] The processor 301 is used to call program instructions in the memory 302 to execute the methods provided in the above-described method embodiments.

[0157] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0158] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0159] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0160] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0161] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for uniform wear motion control of a redundant robotic arm driven by joint acceleration, characterized in that, include: The wear uniformity parameter of each joint in a redundant robotic arm driven by joint acceleration is represented by the wear uniformity parameter in the desired repetitive motion, wherein the smaller the value of the wear uniformity parameter, the more uniform the wear of each joint in the redundant robotic arm. Based on the wear uniformity parameter, a motion control optimization scheme for the redundant robotic arm driven by joint acceleration is established at the acceleration layer, wherein the motion control optimization scheme takes the minimum wear uniformity parameter as the optimization objective. Based on the motion control optimization scheme of the acceleration layer, the acceleration information of each joint of the redundant robotic arm is solved; The acceleration information of each joint is sent to the controller, which drives the joint acceleration-driven redundant robotic arm to track the desired motion trajectory and perform uniform wear motion based on the acceleration information of each joint.

2. The method according to claim 1, characterized in that, The wear uniformity parameter representation of each joint in the constructed joint acceleration-driven redundant robotic arm during the desired repetitive motion includes: Based on the joint angle parameters of each joint of the redundant robotic arm driven by joint acceleration during the desired repetitive motion, and the standard angle value parameter of that joint, a parameter representation of the wear uniformity of each joint of the redundant robotic arm driven by joint acceleration during the desired repetitive motion is constructed.

3. The method according to claim 2, characterized in that, The wear uniformity parameter of each joint is represented as the integral of the difference between a first vector composed of joint angle parameters of each joint and a second vector composed of standard joint angle parameters of each joint in the desired repetitive motion of the redundant robotic arm.

4. The method according to claim 1, characterized in that, The step of solving for the acceleration information of each joint of the redundant robotic arm according to the motion control optimization scheme of the acceleration layer includes: Based on the motion control optimization scheme of the acceleration layer and the constraints of the redundant manipulator in the desired repetitive motion, the acceleration information of each joint of the redundant manipulator driven by joint acceleration is solved.

5. The method according to claim 4, characterized in that, The method further includes: Based on the Jacobian matrix of the redundant manipulator, the actual position parameters of the end effector of the redundant manipulator when performing repetitive tasks, and the position, velocity, and acceleration parameters of the end effector of the redundant manipulator during the desired repetitive motion process, establish the Jacobian equation constraint for the joint acceleration of the redundant manipulator; and / or Based on the set of joint acceleration values ​​of the redundant robotic arm in the desired repetitive motion, a constraint on the magnitude of the joint acceleration of the redundant robotic arm is established.

6. The method according to claim 1, characterized in that, The step of solving for the acceleration information of each joint of the redundant robotic arm according to the motion control optimization scheme of the acceleration layer includes: The motion control optimization scheme of the acceleration layer is transformed into a piecewise projection equation system; At least one set of dynamic parameters for overcoming noise interference is introduced into the piecewise projection equations to generate a numerical iterative model with noise resistance. The numerical iterative model with noise resistance is solved to obtain the acceleration information of each joint of the redundant robotic arm.

7. A motion control device for uniform wear of a redundant robotic arm driven by joint acceleration, characterized in that, include: A construction module is used to construct a wear uniformity parameter representation of each joint of a redundant robotic arm driven by joint acceleration during the desired repetitive motion, wherein the smaller the value of the wear uniformity parameter, the more uniform the wear of each joint of the redundant robotic arm. The first establishment module is used to establish a motion control optimization scheme for the redundant robotic arm driven by the joint acceleration in the acceleration layer based on the wear uniformity parameter, wherein the motion control optimization scheme takes the minimum wear uniformity parameter as the optimization objective. The solution module is used to solve for the acceleration information of each joint of the redundant robotic arm according to the motion control optimization scheme of the acceleration layer. The transmitting module is used to send the acceleration information of each joint to the controller, which is used to drive the joint acceleration-driven redundant robotic arm to track the desired motion trajectory and perform uniform wear motion based on the acceleration information of each joint.

8. The apparatus according to claim 7, characterized in that, The building module is specifically used for: Based on the joint angle parameters of each joint of the redundant robotic arm driven by joint acceleration during the desired repetitive motion, and the standard angle value parameter of that joint, a parameter representation of the wear uniformity of each joint of the redundant robotic arm driven by joint acceleration during the desired repetitive motion is constructed.

9. The apparatus according to claim 8, characterized in that, The wear uniformity parameter of each joint is represented as the integral of the difference between a first vector composed of joint angle parameters of each joint and a second vector composed of standard joint angle parameters of each joint in the desired repetitive motion of the redundant robotic arm.

10. The apparatus according to claim 7, characterized in that, The solution module is specifically used for: Based on the motion control optimization scheme of the acceleration layer and the constraints of the redundant manipulator in the desired repetitive motion, the acceleration information of each joint of the redundant manipulator driven by joint acceleration is solved.

11. The apparatus according to claim 10, characterized in that, The device further includes a second establishment module, the second establishment module being used for: Based on the Jacobian matrix of the redundant manipulator, the actual position parameters of the end effector of the redundant manipulator when performing repetitive tasks, and the position, velocity, and acceleration parameters of the end effector of the redundant manipulator during the desired repetitive motion process, establish the Jacobian equation constraint for the joint acceleration of the redundant manipulator; and / or Based on the set of joint acceleration values ​​of the redundant robotic arm in the desired repetitive motion, a constraint on the magnitude of the joint acceleration of the redundant robotic arm is established.

12. The apparatus according to claim 7, characterized in that, The solution module is specifically used for: The motion control optimization scheme of the acceleration layer is transformed into a piecewise projection equation system; At least one set of dynamic parameters for overcoming noise interference is introduced into the piecewise projection equations to generate a numerical iterative model with noise resistance. The numerical iterative model with noise resistance is solved to obtain the acceleration information of each joint of the redundant robotic arm.

13. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method of any one of claims 1 to 6.

14. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method of any one of claims 1 to 6.

15. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the method of any one of claims 1 to 6.

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