Robot mechanical arm joint motion track planning and motion control method

Abstract

The invention discloses a robot mechanical arm joint motion track planning and motion control method. The method comprises the steps that S1, high-precision vibration sensors are installed on a pipe joint and an end effector of a mechanical arm and calibrated; s2, starting a vibration sensor, collecting vibration data of each part in real time, and transmitting the data to a control system; s3, the control system carries out real-time calculation and analysis on the vibration data, and vibration abnormity of the mechanical arm in the operation process is recognized; s4, the mechanical arm is adjusted in real time according to the analysis result, and the stability and precision of the mechanical arm are guaranteed; and S5, storing related data of machine operation and adjustment, thereby facilitating later learning use. Through the technical means of the high-precision vibration sensor, real-time data acquisition and analysis, real-time adjustment, data storage and the like, the vibration condition of the mechanical arm can be monitored in real time, and the movement precision and stability of the robot mechanical arm are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of maintenance robots, and in particular to a robot mechanical arm joint motion trajectory planning and motion control method. Background Art

[0002] With the rapid development of the power system and the continuous increase in electricity demand, the safe and stable operation of transmission lines is particularly important. The operating environment of transmission lines is complex, and they are often faced with various severe weather and natural conditions such as high temperature, high pressure, wind, rain and lightning. The maintenance of transmission lines is a high-risk and high-intensity task. The traditional manual maintenance method not only has the problem of low efficiency, but also has personnel safety hazards. Therefore, the research and development and application of intelligent and automated transmission line maintenance robots have become an inevitable trend. The maintenance robot is an intelligent device that can autonomously walk, detect and repair on high-altitude transmission lines. It can replace manual high-risk and difficult line maintenance operations, greatly improving the efficiency and safety of maintenance. At present, maintenance robots have been widely used in the inspection and maintenance of various transmission lines.

[0003] During the operation of the robot arm, vibration is an important factor affecting its motion trajectory and working accuracy. The sources of vibration include the structural vibration of the robot arm itself, the interference of the external environment, and the inertial force generated during the movement of the robot arm. These vibrations may cause deviations in the robot arm when performing tasks, affect its working accuracy, and even cause equipment damage or work failure. In view of the above shortcomings in the prior art, the present invention proposes a robot arm joint motion trajectory planning and motion control method. Summary of the invention

[0004] The purpose of this section is to summarize some aspects of embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0006] In a first aspect, an embodiment of the present invention provides a method for planning and controlling a robot arm joint motion trajectory, comprising:

[0007] S1. Install high-precision vibration sensors on the pipe joints and end effectors of the robot arm and calibrate them;

[0008] S2, start the vibration sensor, collect vibration data of various parts in real time, and transmit the data to the control system;

[0009] S3, the control system performs real-time calculation and analysis on the vibration data to identify abnormal vibration of the robot arm during operation;

[0010] S4. Adjust the robotic arm in real time according to the analysis results to ensure the stability and accuracy of the robotic arm;

[0011] S5. Store the relevant data of machine operation and adjustment to facilitate later learning and use.

[0012] As a preferred solution of the robot arm joint motion trajectory planning and motion control method described in the present invention, the analysis of the vibration data includes the calculation of the vibration intensity, and the calculation formula is as follows:

[0013]

[0014] where v i (t) is the vibration data of the i-th sensor at time t; is the exponential attenuation coefficient, which is used to reflect the vibration attenuation over time. i is the data attenuation coefficient of the i-th sensor.

[0015] As a preferred solution of the robot arm joint motion trajectory planning and motion control method described in the present invention, the analysis of the vibration data also includes the calculation of the vibration change rate, and the calculation formula is as follows:

[0016]

[0017] Where p is the normalization parameter, and the value of p is 2; Represents the first derivative of vibration data and is used to capture the rate at which the vibration is changing.

[0018] As a preferred solution of the robot arm joint motion trajectory planning and motion control method described in the present invention, the vibration compensation amount is obtained by the vibration intensity and the vibration change rate, and the vibration compensation amount algorithm is specifically as follows:

[0019]

[0020] As a preferred solution of the robot manipulator joint motion trajectory planning and motion control method described in the present invention, wherein: The value range includes:

[0021] Low vibration range: Medium vibration range: High vibration range: Extremely high vibration range:

[0022] Among them, C1, C2, and C3 are thresholds set according to the actual operation of the robot arm and experience.

[0023] As a preferred solution of the robot manipulator joint motion trajectory planning and motion control method described in the present invention, wherein: the vibration compensation amount The specific adjustment methods for different levels are as follows:

[0024] Low vibration range: The robot arm vibrates less and runs smoothly, continuing the current motion trajectory and speed without additional adjustments, and continuing to monitor to ensure continued stability;

[0025] Medium vibration range: The robot arm has moderate vibration, but it is still acceptable. Slightly adjust the movement speed of the joint to reduce the impact;

[0026] High vibration range: The robot arm has obvious vibrations and needs to be adjusted to ensure stability, significantly reduce the joint movement speed, and reduce the vibration amplitude;

[0027] Extremely high vibration range: The robot arm vibrates very severely, affecting normal operation and requiring urgent adjustment.

[0028] As a preferred solution of the robot manipulator joint motion trajectory planning and motion control method described in the present invention, the specific adjustment value calculation formula of the adjustment method is:

[0029] Medium vibration range: v i (t)←v i (t)-β i (C(t)-C1);

[0030] High vibration range: v i (t)←v i (t)-γ i (C(t)-C1);

[0031] Extremely high vibration range: v i (t)←v i (t)-δ i (C(t)-c1);

[0032] where β i , γ i ,δ i is the adjustment coefficient corresponding to each range.

[0033] As a preferred solution of the robot manipulator joint motion trajectory planning and motion control method described in the present invention, the robot stores the operation data so that the control system can be optimized and adjusted according to the historical data.

[0034] In a second aspect, an embodiment of the present invention further provides a robot manipulator joint motion trajectory planning and motion control system, specifically comprising:

[0035] Sensor module: installed on each joint and end effector of the robot arm to ensure accurate measurement and calibration of the vibration of the robot arm during operation;

[0036] Data acquisition module: collects vibration data of various parts of the robot arm in real time and transmits the collected data wirelessly;

[0037] Control system module: analyzes and processes the data and adjusts the robot arm according to the analysis results;

[0038] Robotic arm adjustment module: according to the instructions of the control system, the robot arm is adjusted in real time to reduce vibration;

[0039] Data storage module: stores data related to the operation and adjustment of the robot arm.

[0040] As a preferred solution of the robot manipulator joint motion trajectory planning and motion control system described in the present invention, wherein: the control system module includes a data processing unit, a vibration analysis unit and a control unit;

[0041] The robot arm adjustment module includes a motion control unit and an execution adjustment unit.

[0042] Beneficial effects of the present invention:

[0043] The present invention can monitor the vibration of the robotic arm in real time by providing high-precision vibration sensors, real-time data collection and analysis, real-time adjustment and data storage and other technical means, and perform real-time calculation, analysis and adjustment through a control system. It can instantly respond to dynamic changes in vibration during the operation of the robotic arm and avoid trajectory deviation and working errors caused by vibration. It significantly improves the motion accuracy and stability of the robot robotic arm, extends the service life of the robotic arm, improves work efficiency, and has broad application prospects and market value. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0045] Figure 1 A schematic diagram of a flow chart of a robot manipulator joint motion trajectory planning and motion control method proposed by the present invention;

[0046] Figure 2 A schematic diagram of the flow of data analysis and calculation in the present invention;

[0047] Figure 3 This is a framework diagram of the robot manipulator joint motion trajectory planning and motion control system proposed by the present invention. DETAILED DESCRIPTION

[0048] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0049] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0050] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0051] Reference Figure 1-3 The present invention provides a robot manipulator joint motion trajectory planning and motion control method, comprising:

[0052] S1. Install high-precision vibration sensors on the pipe joints and end effectors of the robot arm and calibrate them to ensure that they accurately measure the robot arm during movement;

[0053] S2, start the vibration sensor, collect vibration data of various parts in real time, and transmit the data to the control system;

[0054] S3, the control system performs real-time calculation and analysis on the vibration data to identify abnormal vibration of the robot arm during operation;

[0055] S4. Adjust the robotic arm in real time according to the analysis results to ensure the stability and accuracy of the robotic arm;

[0056] S5. Store the relevant data of machine operation and adjustment to facilitate later learning and use.

[0057] The analysis of vibration data includes the calculation of vibration intensity, and the calculation formula is as follows:

[0058]

[0059] where vi (t) is the vibration data of the i-th sensor at time t; is the exponential attenuation coefficient, which is used to reflect the vibration attenuation over time. i is the data attenuation coefficient of the i-th sensor, for the data v of the sensor i used i (t) is summed and the root mean square value is calculated to measure the vibration intensity of the robot arm within the time period T.

[0060] Furthermore, the analysis of vibration data also includes the calculation of the vibration change rate, which is calculated as follows:

[0061]

[0062] Where p is the normalization parameter, and the value of p is 2; Represents the first derivative of vibration data, used to capture the rate at which the vibration changes

[0063] Furthermore, the vibration compensation amount is obtained through the vibration intensity and the vibration change rate. The vibration compensation amount algorithm is as follows:

[0064] Through the integral Calculate the mean root square value of the vibration data after exponential decay, reflecting the overall intensity of the vibration, through the summation term Calculate the rate and amplitude of vibration data changes to reflect the dynamic characteristics of vibration. The calculation results can be used to make real-time adjustments to the robotic arm to achieve vibration compensation and ensure the stability and accuracy of the robotic arm.

[0065] Furthermore, The value range includes:

[0066] Low vibration range: Medium vibration range: High vibration range: Extremely high vibration range:

[0067] Among them, C1, C2, and C3 are thresholds set according to the actual operation of the robot arm and experience. The calculated Make level judgments and adopt corresponding strategies.

[0068] Furthermore, the vibration compensation amount The corresponding adjustment methods for different levels are as follows:

[0069] Low vibration range: The robot arm vibrates less and runs smoothly, continuing the current motion trajectory and speed without additional adjustments, and continuing to monitor to ensure continued stability;

[0070] Medium vibration range: The robot arm has moderate vibration, but it is still acceptable. Slightly adjust the movement speed of the joint to reduce the impact;

[0071] High vibration range: The robot arm has obvious vibrations and needs to be adjusted to ensure stability, significantly reduce the joint movement speed, and reduce the vibration amplitude;

[0072] Extremely high vibration range: The vibration of the robotic arm is very serious, affecting normal operation and requiring urgent adjustment. The vibration range is divided and different measures are taken for different vibration ranges.

[0073] Furthermore, the specific adjustment value calculation formula of the adjustment method is:

[0074] Medium vibration range: v i (t)←v i (t)-β i (C(t)-C1);

[0075] High vibration range: v i (t)←v i (t)-γ i (C(t)-C1);

[0076] Extremely high vibration range: v i (t)←v i (T)-δ i (C(t)-C1);

[0077] where β i , γ i ,δ i is the adjustment coefficient corresponding to each range, and the vibration is controlled by adjusting the movement speed of the robot arm joint. When the vibration intensity of the robot arm exceeds a certain threshold, the impact of the vibration is reduced by reducing the speed of the joint. The adjustment amplitude is determined by the vibration compensation amount C(t)-C n and the corresponding speed adjustment factor (β i , γ i , δ i ) to make adjustments.

[0078] Furthermore, the robot stores the operating data so that the control system can be optimized and adjusted according to the historical data, so that the system can be optimized and adjusted in real time according to the historical data.

[0079] This embodiment also includes a robot mechanical arm joint motion trajectory planning and motion control system, specifically including:

[0080] Sensor module: installed on each joint and end effector of the robot arm to ensure accurate measurement and calibration of the vibration of the robot arm during operation;

[0081] Data acquisition module: collects vibration data of various parts of the robot arm in real time and transmits the collected data wirelessly;

[0082] Control system module: analyzes and processes the data and adjusts the robot arm according to the analysis results;

[0083] Robotic arm adjustment module: according to the instructions of the control system, the robot arm is adjusted in real time to reduce vibration;

[0084] Data storage module: stores data related to the operation and adjustment of the robot arm.

[0085] Furthermore, the control system module includes a data processing unit, a vibration analysis unit and a control unit;

[0086] The robot arm adjustment module includes a motion control unit and an execution adjustment unit. The data processing unit processes the vibration data transmitted in real time; the vibration analysis unit analyzes the processed vibration data to identify abnormal vibration of the robot arm during movement; the control unit adjusts the robot arm according to the analysis results to ensure the stability and accuracy of the robot arm; the motion control unit parses the instructions of the control system, and the execution adjustment unit is responsible for actually executing the adjustment operation.

[0087] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A robot arm joint motion trajectory planning and motion control method, characterized in that: include: S1. Install high-precision vibration sensors on the pipe joints and end effectors of the robot arm and calibrate them; S2, start the vibration sensor, collect vibration data of various parts in real time, and transmit the data to the control system; S3, the control system performs real-time calculation and analysis on the vibration data to identify abnormal vibration of the robot arm during operation; S4. Adjust the robotic arm in real time according to the analysis results to ensure the stability and accuracy of the robotic arm; S5. Store the relevant data of machine operation and adjustment to facilitate later learning and use.

2. A robot arm joint motion trajectory planning and motion control method according to claim 1, characterized in that: The analysis of the vibration data includes the calculation of the vibration intensity, and the calculation formula is as follows: where v i (t) is the vibration data of the i-th sensor at time t; is the exponential attenuation coefficient, which is used to reflect the vibration attenuation over time. i is the data attenuation coefficient of the i-th sensor.

3. A robot arm joint motion trajectory planning and motion control method according to claim 2, characterized in that: The analysis of the vibration data also includes the calculation of the vibration change rate, which is calculated as follows: Where p is the normalization parameter, and the value of p is 2; Represents the first derivative of vibration data and is used to capture the rate at which the vibration is changing.

4. A robot arm joint motion trajectory planning and motion control method according to claim 3, characterized in that: The vibration compensation amount is obtained by the vibration intensity and the vibration change rate. The specific algorithm of the vibration compensation amount is as follows:

5. A robot arm joint motion trajectory planning and motion control method according to claim 4, characterized in that: Said The value range includes: Low vibration range: Medium vibration range: High vibration range: Extremely high vibration range: Among them, C1, C2, and C3 are thresholds set according to the actual operation of the robot arm and experience.

6. A robot arm joint motion trajectory planning and motion control method according to claim 5, characterized in that: The vibration compensation amount The corresponding adjustment methods for different levels are as follows: Low vibration range: The robot arm vibrates less and runs smoothly, continuing the current motion trajectory and speed without additional adjustments, and continuing to monitor to ensure continued stability; Medium vibration range: The robot arm has moderate vibration, but it is still acceptable. Slightly adjust the movement speed of the joint to reduce the impact; High vibration range: The robot arm has obvious vibrations and needs to be adjusted to ensure stability, significantly reduce the joint movement speed, and reduce the vibration amplitude; Extremely high vibration range: The robot arm vibrates very severely, affecting normal operation and requiring urgent adjustment.

7. A robot arm joint motion trajectory planning and motion control method according to claim 6, characterized in that: The specific adjustment value calculation formula of the adjustment method is: Medium vibration range: v i (t)←v i (t)-β i (C(t)-C1); High vibration range: v i (t)←v i (t)-γ i (C(t)-C1); Extremely high vibration range: v i (t)←v i (t)-δ i (C(t)-C1); where β i , γ i , δ i is the adjustment coefficient corresponding to each range.

8. A robot arm joint motion trajectory planning and motion control method according to claim 7, characterized in that: The robot stores the operating data so that the control system can be optimized and adjusted according to the historical data.

9. A robot manipulator joint motion trajectory planning and motion control system, based on a robot manipulator joint motion trajectory planning and motion control method according to any one of claims 1 to 8, characterized in that: Specifically include: Sensor module: installed on each joint and end effector of the robot arm to ensure accurate measurement and calibration of the vibration of the robot arm during operation; Data acquisition module: collects vibration data of various parts of the robot arm in real time and transmits the collected data wirelessly; Control system module: analyzes and processes the data and adjusts the robot arm according to the analysis results; Robotic arm adjustment module: according to the instructions of the control system, the robot arm is adjusted in real time to reduce vibration; Data storage module: stores data related to the operation and adjustment of the robot arm.

10. A robot arm joint motion trajectory planning and motion control system according to claim 9, characterized in that: The control system module includes a data processing unit, a vibration analysis unit and a control unit; The robot arm adjustment module includes a motion control unit and an execution adjustment unit.

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