Robot force control rate self-adaptive adjustment method and device

Abstract

The embodiment of the invention provides a robot force control rate self-adaptive adjustment method and device. The robot force control rate self-adaptive adjustment method comprises the steps that force sensor data are acquired; wherein the force sensor data is tail end acting force information of the robot; performing spectral analysis based on the force sensor data, and determining a spectral analysis result; determining a force feedback control coefficient based on a spectral analysis result; and force feedback correction is determined based on the force feedback control coefficient, and the force control rate of the robot is adjusted based on the force feedback correction. The force feedback coefficient of the robot is automatically calculated and updated in a mode of performing spectral analysis on the acting force sampling data at the tail end of the robot, so that the self-adaptive adjustment of the force control rate of the robot is realized. Compared with a traditional manual adjustment mode, dependence on experience of operators in related applications is avoided, and application efficiency is improved.

Description

Technical Field

[0001] The embodiments of this specification relate to the field of robot control technology, and in particular to a method for adaptively adjusting a robot force control rate. Background Art

[0002] In robot operation applications with physical contact such as assembly, grinding, and processing, the force between the robot end workpiece and the external physical boundary needs to be precisely controlled. Usually, a force sensor is installed on the robot wrist to obtain the force information between the robot end and the external object. According to the deviation between the current force and the target value, the admittance control method is used to fine-tune the posture of the robot end to control the force near the target value.

[0003] In some applications, due to changes in the robot's end workpiece, fixtures, and external objects, the robot's end workpiece mass characteristics, stiffness, and environmental stiffness change. Accordingly, the robot's force feedback control parameters need to be adjusted to achieve a fast and stable force feedback control effect. Otherwise, the robot's end force may fluctuate greatly, and even risk damaging the product. In addition, the same robot application also has different requirements for force feedback control parameters at different stages. For example, in docking assembly, when the deviation from the target posture is large, the robot needs to have a faster adjustment speed. In the precision matching stage with a small posture deviation, precise force control is required, and different force feedback control parameters need to be used at different stages.

[0004] In existing research and applications, the force feedback control parameters of robots often need to be adjusted manually through repeated attempts, which is highly dependent on personal experience and has low application efficiency. Therefore, a better solution is urgently needed. Summary of the invention

[0005] In view of this, the embodiments of this specification provide a method for adaptively adjusting the force control rate of a robot. One or more embodiments of this specification also relate to an adaptive adjustment device for force control rate of a robot, a computing device, a computer-readable storage medium and a computer program to solve the technical defects existing in the prior art.

[0006] According to a first aspect of an embodiment of this specification, a method for adaptively adjusting a force control rate of a robot is provided, comprising:

[0007] Obtaining force sensor data; wherein the force sensor data is the end force information of the robot;

[0008] Perform spectrum analysis based on the force sensor data to determine the spectrum analysis result;

[0009] Determine the force feedback control coefficient based on the spectrum analysis result;

[0010] A force feedback correction amount is determined based on the force feedback control coefficient, and the force control rate of the robot is adjusted based on the force feedback correction amount.

[0011] In a possible implementation, acquiring force sensor data includes:

[0012] Determine the sampling frequency;

[0013] Multiple data of the robot's motion direction are collected based on the sampling frequency to obtain force sensor data.

[0014] In a possible implementation, performing spectrum analysis based on the force sensor data to determine the spectrum analysis result includes:

[0015] Perform fast Fourier transform based on the force sensor data and determine the Fourier transform result;

[0016] Intercept the Fourier transform results and determine some of the results;

[0017] A result modulus value is determined based on the partial result, and a spectrum analysis result is determined based on the result modulus value.

[0018] In a possible implementation, determining a spectrum analysis result based on a result modulus value includes:

[0019] Sort the result modulus values ​​from large to small to determine the sorting result;

[0020] Select the first result modulus value of the sorted results as the spectrum analysis result.

[0021] In a possible implementation, determining the force feedback control coefficient based on the spectrum analysis result includes:

[0022] determining a first constant and a second constant;

[0023] A force feedback control coefficient is determined based on the first constant, the second constant, and the spectrum analysis result.

[0024] In a possible implementation, determining the force feedback correction amount based on the force feedback control coefficient includes:

[0025] A real-time force feedback value is obtained, and a force feedback correction amount is determined based on the real-time force feedback value and a force feedback control coefficient.

[0026] In a possible implementation, the force sensor is a six-dimensional force sensor;

[0027] The force sensor data includes force components in the directions of the three coordinate axes and moment components in the directions of the three coordinate axes.

[0028] According to a second aspect of the embodiments of this specification, a robot force control rate adaptive adjustment device is provided, comprising:

[0029] A data acquisition module is configured to acquire force sensor data; wherein the force sensor data is the end force information of the robot;

[0030] A spectrum analysis module is configured to perform spectrum analysis based on the force sensor data and determine a spectrum analysis result;

[0031] A coefficient determination module, configured to determine a force feedback control coefficient based on a spectrum analysis result;

[0032] The feedback correction module is configured to determine a force feedback correction amount based on a force feedback control coefficient, and adjust the force control rate of the robot based on the force feedback correction amount.

[0033] According to a third aspect of an embodiment of this specification, a computing device is provided, including:

[0034] Memory and processor;

[0035] The memory is used to store computer executable instructions, and the processor is used to execute the computer executable instructions. When the computer executable instructions are executed by the processor, the steps of the above-mentioned robot force control rate adaptive adjustment method are implemented.

[0036] According to a fourth aspect of the embodiments of this specification, a computer-readable storage medium is provided, which stores computer-executable instructions, and when the instructions are executed by a processor, the steps of the above-mentioned robot force control rate adaptive adjustment method are implemented.

[0037] According to a fifth aspect of the embodiments of this specification, a computer program is provided, wherein when the computer program is executed in a computer, the computer is caused to execute the steps of the above-mentioned robot force control rate adaptive adjustment method.

[0038] The embodiments of this specification provide a method and device for adaptively adjusting the force control rate of a robot, wherein the method for adaptively adjusting the force control rate of a robot includes: obtaining force sensor data; wherein the force sensor data is the end force information of the robot; performing spectrum analysis based on the force sensor data to determine the spectrum analysis result; determining the force feedback control coefficient based on the spectrum analysis result; determining the force feedback correction amount based on the force feedback control coefficient, and adjusting the force control rate of the robot based on the force feedback correction amount. By performing spectrum analysis on the end force sampling data of the robot, the robot force feedback coefficient is automatically calculated and updated to achieve adaptive adjustment of the robot force control rate. Compared with the traditional manual adjustment method, it eliminates the dependence on the operator's experience in related applications and improves application efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1is a flow chart of a method for adaptively adjusting a robot force control rate provided by one embodiment of this specification;

[0040] Figure 2 It is a schematic diagram of workpiece assembly of a robot force control rate adaptive adjustment method provided by one embodiment of this specification;

[0041] Figure 3 It is a structural schematic diagram of a robot force control rate adaptive adjustment device provided by an embodiment of this specification;

[0042] Figure 4 It is a structural block diagram of a computing device provided by an embodiment of this specification. DETAILED DESCRIPTION

[0043] Many specific details are described in the following description to facilitate a full understanding of this specification. However, this specification can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of this specification, so this specification is not limited to the specific implementation disclosed below.

[0044] The terms used in one or more embodiments of this specification are only for the purpose of describing specific embodiments, and are not intended to limit one or more embodiments of this specification. The singular forms of "a" and "the" used in one or more embodiments of this specification and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in one or more embodiments of this specification refers to and includes any or all possible combinations of one or more associated listed items.

[0045] It should be understood that although the terms first, second, etc. may be used to describe various information in one or more embodiments of this specification, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of one or more embodiments of this specification, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0046] In this specification, a robot force control rate adaptive adjustment method is provided. This specification also relates to a robot force control rate adaptive adjustment device, a computing device, and a computer-readable storage medium, which are described in detail one by one in the following embodiments.

[0047] See also Figure 1 , Figure 1A flow chart of a method for adaptively adjusting a robot force control rate provided according to an embodiment of the present specification is shown, which specifically includes the following steps.

[0048] Step 101: Obtain force sensor data; wherein the force sensor data is the end force information of the robot.

[0049] In a possible implementation, acquiring the force sensor data includes: determining a sampling frequency; and collecting a plurality of data of the robot's motion direction based on the sampling frequency to obtain the force sensor data.

[0050] In practical applications, preferably, the robot can be a 6-DOF robot, which can realize translation and rotation adjustment in three directions in a spatial Cartesian coordinate system. Figure 2 A force sensor 2 is installed at the end of the robot 1 to obtain the force information between the workpiece 3 at the end of the robot and the assembly physical boundary 4.

[0051] For example, collecting data from the six-dimensional force sensor 2: continuously collecting data from the six-dimensional force sensor 2 at a sampling frequency Fs, and converting N data of the normal force value on the contact surface according to the coordinate transformation relationship to obtain the sampling data:

[0052] X={x1 x2…x N}.

[0054] The sampling frequency Fs needs to be greater than twice the desired identification force fluctuation frequency, and the number of sampling points is determined according to the required spectral resolution, which is Fs / N.

[0055] In a possible implementation, the force sensor is a six-dimensional force sensor; the force sensor data includes force components in three coordinate axis directions and torque components in three coordinate axis directions.

[0056] In practical applications, the force sensor may be a six-axis force sensor, and the measured data has six components, including force components in three coordinate axis directions in the six-axis force sensor's own coordinate system and torque components in three coordinate axis directions.

[0057] Step 102: Perform spectrum analysis based on the force sensor data to determine the spectrum analysis result.

[0058] In one possible implementation, spectrum analysis is performed based on force sensor data to determine spectrum analysis results, including: performing fast Fourier transform based on the force sensor data to determine Fourier transform results; intercepting the Fourier transform results to determine partial results; determining a result modulus based on the partial results, and determining the spectrum analysis result based on the result modulus.

[0059] In practical applications, the collected N groups of data are subjected to fast Fourier transform (FFT) to obtain the following results:

[0060] W={ω1ω2…ω N};

[0061] Among them, ω k (1≤k≤N) is a complex number, ω k =a k +b k i. a k 、b k They represent the real and imaginary parts of the kth point of the fast Fourier transform result respectively.

[0062] b. Intercept some of the Fourier transform results and calculate the modulus of each result:

[0063] A={A P1 A P1+1 …A P2};

[0064] in,

[0065] The values ​​of P1 and P2 are determined according to the force fluctuation frequency range that is desired to be identified, and the identifiable frequency range is Fs·P1 / N to Fs·P2 / N.

[0066] In a possible implementation, determining the spectrum analysis result based on the result modulus value includes: sorting the result modulus values ​​from large to small to determine the sorting result; and selecting the first result modulus value of the sorting result as the spectrum analysis result.

[0067] In practical applications, extract the maximum value in set A, denoted as A max .

[0068] Step 103: Determine the force feedback control coefficient based on the spectrum analysis result.

[0069] In a possible implementation, determining the force feedback control coefficient based on the spectrum analysis result includes: determining a first constant and a second constant; and determining the force feedback control coefficient based on the first constant, the second constant, and the spectrum analysis result.

[0070] In practical applications, the force feedback control coefficient is calculated:

[0071]

[0072] Among them, C1 and C2 are constants that are predetermined artificially according to the experiment to achieve the expected control effect. They are determined in the actual robot experimental test, so that the force control process responds quickly and the control process is stable. After being determined artificially, no modification is required in subsequent applications.

[0073] Step 104: Determine a force feedback correction amount based on the force feedback control coefficient, and adjust the robot force control rate based on the force feedback correction amount.

[0074] In a possible implementation, determining the force feedback correction amount based on the force feedback control coefficient includes: acquiring a real-time force feedback value, and determining the force feedback correction amount based on the real-time force feedback value and the force feedback control coefficient.

[0075] In practical applications, the force feedback correction amount of the robot in the direction of motion is calculated as:

[0076] ΔL = η·F;

[0077] Wherein, F is the real-time force feedback value of the force sensor in the movement direction of the robot.

[0078] It should be noted that during the operation of the robot, steps 101-104 are executed cyclically, and the force feedback control coefficient is updated in real time according to the most recent N sampling data before the current moment, so as to realize adaptive adjustment of the robot force control rate.

[0079] The embodiments of this specification provide a method and device for adaptively adjusting the force control rate of a robot, wherein the method for adaptively adjusting the force control rate of a robot includes: obtaining force sensor data; wherein the force sensor data is the end force information of the robot; performing spectrum analysis based on the force sensor data to determine the spectrum analysis result; determining the force feedback control coefficient based on the spectrum analysis result; determining the force feedback correction amount based on the force feedback control coefficient, and adjusting the force control rate of the robot based on the force feedback correction amount. By performing spectrum analysis on the end force sampling data of the robot, the robot force feedback coefficient is automatically calculated and updated to achieve adaptive adjustment of the robot force control rate. Compared with the traditional manual adjustment method, it eliminates the dependence on the operator's experience in related applications and improves application efficiency.

[0080] Corresponding to the above method embodiment, this specification also provides a robot force control rate adaptive adjustment device embodiment, Figure 3 A schematic structural diagram of a robot force control rate adaptive adjustment device provided in one embodiment of the present specification is shown.

[0081] like Figure 3 As shown, the device comprises:

[0082] The data acquisition module 301 is configured to acquire force sensor data; wherein the force sensor data is the end force information of the robot;

[0083] The spectrum analysis module 302 is configured to perform spectrum analysis based on the force sensor data and determine spectrum analysis results;

[0084] A coefficient determination module 303, configured to determine a force feedback control coefficient based on a spectrum analysis result;

[0085] The feedback correction module 304 is configured to determine a force feedback correction amount based on the force feedback control coefficient, and adjust the robot force control rate based on the force feedback correction amount.

[0086] In a possible implementation, acquiring force sensor data includes:

[0087] Determine the sampling frequency;

[0088] Multiple data of the robot's motion direction are collected based on the sampling frequency to obtain force sensor data.

[0089] In a possible implementation, performing spectrum analysis based on the force sensor data to determine the spectrum analysis result includes:

[0090] Perform fast Fourier transform based on the force sensor data and determine the Fourier transform result;

[0091] Intercept the Fourier transform results and determine some of the results;

[0092] A result modulus value is determined based on the partial result, and a spectrum analysis result is determined based on the result modulus value.

[0093] In a possible implementation, determining a spectrum analysis result based on a result modulus value includes:

[0094] Sort the result modulus values ​​from large to small to determine the sorting result;

[0095] Select the first result modulus value of the sorted results as the spectrum analysis result.

[0096] In a possible implementation, determining the force feedback control coefficient based on the spectrum analysis result includes:

[0097] determining a first constant and a second constant;

[0098] A force feedback control coefficient is determined based on the first constant, the second constant, and the spectrum analysis result.

[0099] In a possible implementation, determining the force feedback correction amount based on the force feedback control coefficient includes:

[0100] A real-time force feedback value is obtained, and a force feedback correction amount is determined based on the real-time force feedback value and a force feedback control coefficient.

[0101] In a possible implementation, the force sensor is a six-dimensional force sensor;

[0102] The force sensor data includes force components in the directions of the three coordinate axes and moment components in the directions of the three coordinate axes.

[0103] The embodiments of this specification provide a method and device for adaptively adjusting the force control rate of a robot, wherein the device for adaptively adjusting the force control rate of a robot comprises: obtaining force sensor data; wherein the force sensor data is the end force information of the robot; performing spectrum analysis based on the force sensor data to determine the spectrum analysis result; determining the force feedback control coefficient based on the spectrum analysis result; determining the force feedback correction amount based on the force feedback control coefficient, and adjusting the force control rate of the robot based on the force feedback correction amount. By performing spectrum analysis on the end force sampling data of the robot, the robot force feedback coefficient is automatically calculated and updated to achieve adaptive adjustment of the robot force control rate. Compared with the traditional manual adjustment method, it eliminates the dependence on the operator's experience in related applications and improves application efficiency.

[0104] The above is a schematic scheme of a robot force control rate adaptive adjustment device of this embodiment. It should be noted that the technical scheme of the robot force control rate adaptive adjustment device and the technical scheme of the robot force control rate adaptive adjustment method described above belong to the same concept, and the details not described in detail in the technical scheme of the robot force control rate adaptive adjustment device can be referred to the description of the technical scheme of the robot force control rate adaptive adjustment method described above.

[0105] Figure 4 The block diagram of a computing device 400 according to one embodiment of the present specification is shown. The components of the computing device 400 include but are not limited to a memory 410 and a processor 420. The processor 420 is connected to the memory 410 via a bus 430, and the database 450 is used to store data.

[0106] The computing device 400 also includes an access device 440 that enables the computing device 400 to communicate via one or more networks 460. Examples of these networks include a public switched telephone network (PSTN), a local area network (LAN), a wide area network (WAN), a personal area network (PAN), or a combination of communication networks such as the Internet. The access device 440 may include one or more of any type of network interface (e.g., a network interface card (NIC)) that is wired or wireless, such as an IEEE 802.11 wireless local area network (WLAN) wireless interface, a world-wide interoperability for microwave access (Wi-MAX) interface, an Ethernet interface, a universal serial bus (USB) interface, a cellular network interface, a Bluetooth interface, and a near field communication (NFC).

[0107] In one embodiment of the present specification, the above components of the computing device 400 and Figure 4 Other components not shown in the figure may also be connected to each other, for example, via a bus. It should be understood that Figure 4 The computing device structure block diagram shown is only for the purpose of illustration, and is not intended to limit the scope of this specification. Those skilled in the art can add or replace other components as needed.

[0108] The computing device 400 may be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., a tablet computer, a personal digital assistant, a laptop computer, a notebook computer, a netbook, etc.), a mobile phone (e.g., a smart phone), a wearable computing device (e.g., a smart watch, smart glasses, etc.), or other types of mobile devices, or a stationary computing device such as a desktop computer or a personal computer (PC). The computing device 400 may also be a mobile or stationary server.

[0109] The processor 420 is used to execute the following computer executable instructions, which, when executed by the processor, implement the steps of the above-mentioned robot force control rate adaptive adjustment method. The above is a schematic scheme of a computing device of this embodiment. It should be noted that the technical scheme of the computing device and the technical scheme of the above-mentioned robot force control rate adaptive adjustment method belong to the same concept. The details not described in detail in the technical scheme of the computing device can be found in the description of the technical scheme of the above-mentioned robot force control rate adaptive adjustment method.

[0110] An embodiment of the present specification also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the steps of the above-mentioned robot force control rate adaptive adjustment method.

[0111] The above is a schematic scheme of a computer-readable storage medium of this embodiment. It should be noted that the technical scheme of the storage medium and the technical scheme of the above-mentioned robot force control rate adaptive adjustment method belong to the same concept, and the details not described in detail in the technical scheme of the storage medium can be referred to the description of the technical scheme of the above-mentioned robot force control rate adaptive adjustment method.

[0112] An embodiment of the present specification also provides a computer program, wherein when the computer program is executed in a computer, the computer is caused to execute the steps of the above-mentioned robot force control rate adaptive adjustment method.

[0113] The above is a schematic scheme of a computer program of this embodiment. It should be noted that the technical scheme of the computer program and the technical scheme of the above-mentioned robot force control rate adaptive adjustment method belong to the same concept, and the details not described in detail in the technical scheme of the computer program can be referred to the description of the technical scheme of the above-mentioned robot force control rate adaptive adjustment method.

[0114] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0115] The computer instructions include computer program codes, which may be in source code form, object code form, executable files or some intermediate forms, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0116] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the embodiments of this specification are not limited by the order of the actions described, because according to the embodiments of this specification, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the embodiments of this specification.

[0117] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0118] The preferred embodiments of this specification disclosed above are only used to help explain this specification. The optional embodiments do not describe all the details in detail, nor do they limit the invention to only the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of the embodiments of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the embodiments of this specification, so that technicians in the relevant technical field can well understand and use this specification. This specification is only limited by the claims and their full scope and equivalents.

Claims

1. A robot force control rate adaptive adjustment method, characterized in that: include: Acquire force sensor data; wherein the force sensor data is the end force information of the robot; Performing spectrum analysis based on the force sensor data to determine spectrum analysis results; Determining a force feedback control coefficient based on the spectrum analysis result; A force feedback correction amount is determined based on the force feedback control coefficient, and the force control rate of the robot is adjusted based on the force feedback correction amount.

2. The method according to claim 1, characterized in that The obtaining of force sensor data comprises: Determine the sampling frequency; A plurality of data of the movement direction of the robot is collected based on the sampling frequency to obtain force sensor data.

3. The method according to claim 1, characterized in that The performing spectrum analysis based on the force sensor data to determine the spectrum analysis result includes: Performing a fast Fourier transform based on the force sensor data to determine a Fourier transform result; intercepting the Fourier transform result to determine a partial result; A result modulus value is determined based on the partial result, and a spectrum analysis result is determined based on the result modulus value.

4. The method according to claim 3, characterized in that The determining of the spectrum analysis result based on the result modulus value comprises: Sorting the result modulus values ​​from large to small to determine a sorting result; The first result modulus value of the sorting result is selected as the spectrum analysis result.

5. The method according to claim 1, characterized in that The determining of the force feedback control coefficient based on the spectrum analysis result comprises: determining a first constant and a second constant; A force feedback control coefficient is determined based on the first constant, the second constant, and the spectrum analysis result.

6. The method according to claim 1, characterized in that The determining of the force feedback correction amount based on the force feedback control coefficient comprises: A real-time force feedback value is acquired, and a force feedback correction amount is determined based on the real-time force feedback value and the force feedback control coefficient.

7. The method according to claim 1, characterized in that The force sensor is a six-dimensional force sensor; The force sensor data includes force components in the directions of three coordinate axes and moment components in the directions of three coordinate axes.

8. A robot force control rate adaptive adjustment device, characterized in that: include: A data acquisition module is configured to acquire force sensor data; wherein the force sensor data is end force information of the robot; a spectrum analysis module, configured to perform spectrum analysis based on the force sensor data and determine a spectrum analysis result; a coefficient determination module, configured to determine a force feedback control coefficient based on the spectrum analysis result; The feedback correction module is configured to determine a force feedback correction amount based on the force feedback control coefficient, and adjust the robot force control rate based on the force feedback correction amount.

9. A computing device, characterized in that include: Memory and processor; The memory is used to store computer executable instructions, and the processor is used to execute the computer executable instructions. When the computer executable instructions are executed by the processor, the steps of the robot force control rate adaptive adjustment method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the steps of the robot force control rate adaptive adjustment method according to any one of claims 1 to 7.

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