A robot manipulator joint motion trajectory planning and motion control method

Abstract

The application discloses a kind of robot mechanical arm joint motion trajectory planning and motion control method, comprising: S1, high-precision vibration sensor is installed on the pipe joint of mechanical arm and end effector and is calibrated;S2, start vibration sensor, real-time acquisition each part vibration data, and data transmission to control system;S3, control system carries out real-time calculation and analysis to vibration data, identifies vibration anomaly in the running process of mechanical arm;S4, according to the analysis result, real-time adjustment is carried out to mechanical arm, guarantees the stability and precision of mechanical arm;S5, the relevant data of machine operation and adjustment are stored, facilitate later learning use.The application can real-time monitor the vibration condition of mechanical arm by high-precision vibration sensor, real-time data acquisition and analysis, real-time adjustment and data storage and other technical means, significantly improves the motion precision and stability of robot mechanical arm.

Description

TECHNICAL FIELD

[0001] The present application 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

[0002] With the rapid development of power systems and the increasing demand for electricity, the safe and stable operation of transmission lines is particularly important. The operation environment of transmission lines is complex and often faces various harsh weather and natural conditions such as high temperature, high pressure, wind, rain, lightning, etc. The maintenance work of transmission lines is a high-risk and high-intensity task, and the traditional manual maintenance method not only has the problem of low efficiency, but also has safety hazards. Therefore, it is inevitable to develop and apply intelligent and automated transmission line maintenance robots. The maintenance robot is an intelligent device that can autonomously walk, detect and maintain on high-voltage transmission lines. It can replace manual work to perform high-risk and high-difficulty 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] In the operation process of the mechanical arm, vibration is an important factor affecting its motion trajectory and working precision. The sources of vibration include structural vibration of the mechanical arm itself, external environmental interference, and inertial force generated during the movement of the mechanical arm. These vibrations may cause deviations in the execution of tasks, affect the working precision, and even cause equipment damage or work failure. In view of the above problems in the prior art, the present application provides a robot mechanical arm joint motion trajectory planning and motion control method. SUMMARY

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

[0005] To solve the above technical problems, the present application provides the following technical solutions:

[0006] In a first aspect, the present application provides a robot mechanical arm joint motion trajectory planning and motion control method, comprising:

[0007] S1, installing high-precision vibration sensors on the pipe joints and end effectors of the mechanical arm and calibrating them;

[0008] S2, start the vibration sensor, collect the vibration data of each part 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, and identifies vibration abnormalities of the mechanical arm in the running process;

[0010] S4, according to the analysis result, the mechanical arm is adjusted in real time to ensure the stability and precision of the mechanical arm;

[0011] S5, the relevant data of machine operation and adjustment are stored for later learning and use.

[0012] As a preferred scheme of the robot mechanical arm joint motion trajectory planning and motion control method, wherein: the analysis of the vibration data includes the calculation of the vibration intensity, and the calculation formula is as follows:

[0013]

[0014] Wherein v i (t) is the vibration data of the i th sensor at time t; is an exponential decay coefficient, which is used to reflect the decay of vibration with time, and a i is the data decay coefficient of the i th sensor.

[0015] As a preferred scheme of the robot mechanical arm joint motion trajectory planning and motion control method, wherein: the analysis of the vibration data also includes the calculation of the vibration change rate, and the calculation formula is as follows:

[0016]

[0017] Wherein p is a normalized parameter, and p is 2; Indicates the first derivative of the vibration data, which is used to capture the rate of change of vibration.

[0018] As a preferred scheme of the robot mechanical arm joint motion trajectory planning and motion control method, wherein: the vibration compensation amount is obtained by the vibration intensity and the vibration change rate, and the vibration compensation amount algorithm is as follows:

[0019]

[0020] As a preferred scheme of the robot mechanical arm joint motion trajectory planning and motion control method, wherein: the The value range division range includes:

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

[0022] Wherein C1, C2, C3 are set according to the actual operation of the mechanical arm and the threshold value set by experience.

[0023] As a preferred scheme of the robot mechanical arm joint motion trajectory planning and motion control method, wherein: the vibration compensation amount The specific adjustment method corresponding to different levels is as follows:

[0024] Low vibration range: the mechanical arm has small vibration, runs smoothly, continues the current motion trajectory and speed, no additional adjustment is needed, and continues to monitor to ensure continuous stability;

[0025] Medium vibration range: the mechanical arm has moderate vibration, but it is still acceptable, and the motion speed of the joint is slightly adjusted to reduce the impact;

[0026] High vibration range: the mechanical arm has obvious vibration, which needs to be adjusted to ensure stability, and the joint motion speed is significantly reduced to reduce the vibration amplitude;

[0027] Extremely high vibration range: the mechanical arm has very serious vibration, which affects normal operation and needs emergency adjustment.

[0028] As a preferred scheme of the robot mechanical arm joint motion trajectory planning and motion control method, wherein: 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] Wherein β i , γ i , δ i are the adjustment coefficients corresponding to each range.

[0033] As a preferred scheme of the robot mechanical arm joint motion trajectory planning and motion control method, wherein: the robot stores the operation data, so that the control system can optimize the adjustment according to the historical data.

[0034] In a second aspect, the embodiment of the present application also provides a robot arm joint motion trajectory planning and motion control system, which specifically comprises:

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

[0036] A data acquisition module acquires vibration data of each part of the robot arm in real time and transmits the acquired data wirelessly;

[0037] A control system module analyzes the data and adjusts the robot arm according to the analysis results;

[0038] A robot arm adjustment module adjusts the robot arm in real time to reduce vibration according to the instructions of the control system;

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

[0040] As a preferred scheme of the robot arm joint motion trajectory planning and motion control system, the control system module comprises a data processing unit, a vibration analysis unit and a control unit;

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

[0042] The beneficial effects of the present application are:

[0043] The present application can monitor the vibration of the robot arm in real time through the technical means of high-precision vibration sensor, real-time data acquisition and analysis, real-time adjustment and data storage, and can calculate and analyze and adjust in real time through the control system, can cope with the dynamic changes of vibration in the process of robot arm operation, avoid the deviation of trajectory and working error caused by vibration, significantly improve the motion precision and stability of the robot arm, prolong the service life of the robot arm, improve the work efficiency, and has wide application prospect and market value. BRIEF DESCRIPTION OF DRAWINGS

[0044] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without creative labor. Among them:

[0045] Fig. 1 A flowchart of a robot arm joint motion trajectory planning and motion control method according to the present application is shown in the figure;

[0046] Fig. 2 The flowchart of data analysis calculation in the application is shown in the figure.

[0047] Fig. 3 The framework diagram of the robot mechanical arm joint motion trajectory planning and motion control system proposed in the application is shown in the figure. DETAILED DESCRIPTION

[0048] In order to make the above objectives, characteristics and advantages of the application more apparent and comprehensible, the specific embodiments of the application are described in detail below with reference to the accompanying drawings.

[0049] In the following description, a large number of specific details are set forth in order to facilitate a thorough understanding of the application, but the application can also be implemented in other ways different from those described herein, and those skilled in the art can make similar generalizations without departing from the connotation of the application, so the application is not limited by the specific embodiments disclosed below.

[0050] Secondly, the "one embodiment" or "embodiment" referred to herein means that the specific features, structures or characteristics can be included in at least one implementation of the application. "In one embodiment" appearing in different places in the specification does not mean the same embodiment, nor is it an independent or alternative embodiment that excludes other embodiments.

[0051] REFERENCE Figs. 1-3 The application provides a robot mechanical arm joint motion trajectory planning and motion control method, comprising:

[0052] S1, high-precision vibration sensors are installed on the pipe joints and end effectors of the mechanical arm and calibrated to ensure accurate measurement of the mechanical arm during movement;

[0053] S2, the vibration sensors are started, real-time vibration data of each part is collected, and the data is transmitted to the control system;

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

[0055] S4, the mechanical arm is adjusted in real time according to the analysis result to ensure the stability and precision of the mechanical arm;

[0056] S5, the relevant data of the mechanical operation and adjustment are stored for later learning and use.

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

[0058]

[0059] Among them, vi (t) is the vibration data of the i-th sensor at time t; is the exponential decay coefficient, used to reflect the case of vibration decay over time, α i is the data decay coefficient of the i-th sensor, v i (t) is summed up and the vibration intensity of the robot arm in the time period T is measured by calculating the average root square value.

[0060] Further, the analysis of vibration data also includes the calculation of vibration change rate, and the calculation formula is as follows:

[0061]

[0062] where p is a normalization parameter, and p is 2; represents the first derivative of the vibration data, which is used to capture the rate of change of vibration

[0063] Further, the vibration compensation amount is obtained by the vibration intensity and the vibration change rate, and the vibration compensation amount algorithm is as follows:

[0064] The average root square value of the vibration data after exponential decay is calculated by the integral term The average root square value of the vibration data after exponential decay is calculated by the integral term The rate and amplitude of the vibration data change are calculated by the summation term According to the calculation results of , the robot arm can be adjusted in real time to realize vibration compensation, and ensure the stability and precision of the robot arm.

[0065] Further, The range of value domain division includes:

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

[0067] Where C1, C2, C3 are threshold values set according to the actual operation of the robot arm and experience, and the staff sets C1, C2, C3 to judge the level of calculated, and then take corresponding strategies.

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

[0069] Low vibration range: The robot arm has little vibration, runs smoothly, continues the current motion trajectory and speed, and does not need to be adjusted, continues to monitor, and ensures continuous stability;

[0070] Medium vibration range: The robot arm has moderate vibration, but it is still acceptable, and the joint motion speed is slightly adjusted to reduce the impact;

[0071] High vibration range: The robot arm has significant vibration, which needs to be adjusted to ensure stability, significantly reduces the joint motion speed, and reduces the vibration amplitude;

[0072] Extremely high vibration range: The robot arm has very serious vibration, which affects normal operation, and needs to be adjusted urgently, and the vibration range is divided, and different measures are taken for different vibration ranges.

[0073] Further, 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 are the adjustment coefficients corresponding to each range, which control vibration by adjusting the motion speed of the robot arm joints. When the vibration intensity of the robot arm exceeds a certain threshold, the impact of vibration is reduced by reducing the speed of the joint. The adjustment range is adjusted by the vibration compensation amount C(t)-C n and the corresponding speed adjustment coefficient (β i , γ i , δ i ).

[0078] Further, the robot stores operation data, so that the control system can optimize the adjustment according to the historical data, so that the system can optimize the real-time adjustment according to the historical data.

[0079] The embodiment also includes a robot arm joint motion trajectory planning and motion control system, specifically comprising:

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

[0081] Data acquisition module: real-time acquisition of vibration data of each part of the mechanical arm, and transmission of the collected data through wireless mode;

[0082] Control system module: analysis and processing of data, and adjustment of the mechanical arm according to the analysis results;

[0083] Mechanical arm adjustment module: real-time adjustment of the mechanical arm to reduce vibration according to the instructions of the control system;

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

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

[0086] The mechanical arm adjustment module includes a motion control unit and an execution adjustment unit, the data processing unit processes the real-time transmitted vibration data; the vibration analysis unit analyzes the processed vibration data to identify the vibration abnormalities of the mechanical arm during movement; the control unit adjusts the mechanical arm according to the analysis results to ensure the stability and precision of the mechanical arm; the motion control unit analyzes the instructions of the control system, and the execution adjustment unit is responsible for the actual execution of the adjustment operation.

[0087] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and not to limit it. Although the present application 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 application can be modified or replaced by equivalents without departing from the spirit and scope of the present application, and they should be covered in the scope of the claims of the present application.

Claims

1. A method for robot manipulator joint motion trajectory planning and motion control, characterized in that: The method comprises the following steps: S1. Install high-precision vibration sensors on the pipe joints and end effectors of the mechanical arm and calibrate them; S2. Start the vibration sensors, collect vibration data of each part 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 vibration abnormalities of the mechanical arm during operation; S4. Adjust the mechanical arm in real time according to the analysis results to ensure the stability and precision of the mechanical arm; S5. Store the relevant data of the machine operation and adjustment for later learning and use; The analysis of the vibration data includes the calculation of vibration intensity, and the calculation formula is as follows: wherein is the data of the first sensor at time ; is an exponential decay coefficient for reflecting the case that the vibration decays over time, is the data decay coefficient of the first sensor; The analysis of the vibration data also includes the calculation of vibration change rate, and the calculation formula is as follows: wherein is a normalization parameter, has a value of 2; represents a first derivative of the vibration data, to capture the rate of change of the vibration. The vibration compensation amount is obtained by the vibration intensity and the vibration change rate, and the vibration compensation amount algorithm is as follows: 。 2. The robot manipulator joint motion trajectory planning and motion control method according to claim 1, characterized in that: The The value range division range includes: Low vibration range: ; Medium vibration range: ; High vibration range: ; Very high vibration range: ; wherein , , are set according to the actual operation of the robot arm and experience thresholds.

3. The robot manipulator joint motion trajectory planning and motion control method according to claim 2, characterized in that: The vibration compensation amount The corresponding adjustment methods of different levels are as follows: Low vibration range: The mechanical arm has small vibration and runs smoothly, and the current motion trajectory and speed are continued without additional adjustment, and the monitoring is continued to ensure continuous stability; Medium vibration range: The mechanical arm has moderate vibration, but it is still acceptable, and the motion speed of the joint is slightly adjusted to reduce the impact; High vibration range: The mechanical arm has obvious vibration and needs to be adjusted to ensure stability, significantly reducing the joint motion speed and reducing the vibration amplitude; Extremely high vibration range: The mechanical arm has very serious vibration, which affects normal operation and needs emergency adjustment.

4. The robot manipulator joint motion trajectory planning and motion control method according to claim 3, characterized in that: The specific adjustment value calculation formula of the adjustment method is as follows: Medium vibration range: ; High vibration range: ; Extremely high vibration range: ; wherein , , are the adjustment factors corresponding to each range.

5. The robot manipulator joint motion trajectory planning and motion control method according to claim 4, characterized in that: The robot stores the operation data, so that the control system can optimize the adjustment according to the historical data.

6. A robot manipulator joint motion trajectory planning and motion control system based on the robot manipulator joint motion trajectory planning and motion control method of any one of claims 1-5, characterized in that: Specifically, it comprises: Sensor module: installed on each joint and end effector of the mechanical arm to ensure accurate measurement of the vibration of the mechanical arm during operation and calibration; Data acquisition module: real-time acquisition of vibration data of each part of the mechanical arm, and transmission of the collected data through wireless means; Control system module: analyzes and processes the data and adjusts the mechanical arm according to the analysis results; Mechanical arm adjustment module: adjusts the mechanical arm in real time to reduce vibration according to the instructions of the control system; Data storage module: stores data related to the operation and adjustment of the mechanical arm.

7. The robot manipulator joint motion trajectory planning and motion control system of claim 6, wherein: The control system module includes a data processing unit, a vibration analysis unit, and a control unit; The mechanical arm adjustment module includes a motion control unit and an execution adjustment unit.

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