Robot ground rail convenient to control and control method thereof

Abstract

According to the robot ground rail convenient to control and the control method thereof, the motor rotating speed sequence of the servo driving motor of the robot ground rail is obtained, abnormal values in the motor rotating speed sequence are removed, the rotating speed smooth sequence is obtained, and the field control current of the servo driving motor is obtained; the motor rotational inertia of the servo driving motor is determined according to the field control current, the driving torque sequence of the mechanical arm is determined according to the motor rotational inertia and the rotating speed smooth sequence, and the gap linear deviation amount when the robot ground rail works is determined according to the driving torque sequence; the working vibration domain of the mechanical arm joint of the robot ground rail is determined according to the motor rotational inertia of the servo driving motor, the motor rotating speed of the servo driving motor is adjusted through the gap linear deviation amount and the working vibration domain, the amplitude of nonlinear oscillation is reduced by adjusting the rotating speed of the servo driving motor, and the mechanical arm returns to linear control again. Therefore, the influence of non-linear characteristics caused by gaps of mechanical arm joints on working of the robot ground rail is avoided.

Description

Technical Field

[0001] The present application relates to the technical field of robot ground rails, and more specifically, to a robot ground rail that is easy to control and a control method thereof. Background Art

[0002] The robot ground rail is a walking system that cooperates with the movement of industrial robots. It is mainly composed of a fixed base, power organization, power transmission organization, guide organization, robot device slide, protection organization, limit organization and its walking accessories, robot's mechanical arm, etc. It is used to accelerate the realization of industrial production automation and replace manual labor to complete tasks safely.

[0003] In the existing technology, the control of the manipulator on the robot track is mainly carried out through the proportional integral differential control (PID) and model predictive control (MPC) in the existing technology to stably control the working process of the manipulator on the robot track. However, due to the long-term operation of the robot track, the manipulator joints are worn, which leads to gaps in the manipulator joints. This tiny gap will cause unpredictable nonlinear characteristics in the working process of the manipulator. The proportional integral differential control and model predictive control are both controls for linear models. When nonlinear characteristics appear in the working process of the robot track, it is difficult for them to adjust and adapt by themselves. Therefore, how to avoid the influence of the nonlinear characteristics caused by the gaps in the manipulator joints on the working of the robot track has become a difficult problem faced by the industry. Summary of the invention

[0004] The present application provides a robot ground rail that is easy to control and a control method thereof, which can avoid the influence of nonlinear characteristics caused by the gap of the robot arm joint on the operation of the robot ground rail.

[0005] In a first aspect, the present application provides a method for controlling a robot track that is easy to control, comprising the following steps: Obtaining a motor speed sequence of a servo drive motor of a robot ground rail, removing abnormal values ​​in the motor speed sequence, and obtaining a speed smoothing sequence; Acquiring a field control current of the servo drive motor, and determining the motor moment of inertia of the servo drive motor according to the field control current; Determine the driving torque sequence of the robot arm according to the motor moment of inertia and the speed smoothing sequence, and then determine the linear deviation of the gap when the robot ground rail is working through the driving torque sequence; Determine the working vibration domain of the robot arm joint of the robot ground track according to the motor moment of inertia of the servo drive motor; The motor speed of the servo drive motor is adjusted according to the gap linear deviation and the working vibration domain.

[0006] In some embodiments, removing abnormal values ​​in the motor speed sequence to obtain a speed smoothing sequence specifically includes: Determining an abnormal value in the motor speed sequence; Select an abnormal value in the motor speed sequence, and determine replacement data for the abnormal value according to two motor speed data adjacent to the abnormal value; Replace the abnormal value by the replacement data; Continue to replace the remaining abnormal values ​​in the motor speed sequence to obtain a speed smoothing sequence.

[0007] In some embodiments, determining the abnormal value in the motor speed sequence specifically includes: Determine a speed drift value of each motor speed data in the motor speed sequence; The speed drift value of each motor speed data is compared with a preset abnormal sampling threshold, and the motor speed data with a speed drift value greater than the preset abnormal sampling threshold is taken as an abnormal value.

[0008] In some embodiments, determining the motor moment of inertia of the servo drive motor according to the field control current specifically includes: Get the number of pole pairs of the servo drive motor; Acquire the rotation speed smoothing sequence; Get the friction coefficient of the servo drive motor rotor when it rotates; Obtain the magnetic flux of the magnet in the servo drive motor; The motor rotational inertia of the servo drive motor is determined according to the number of pole pairs of the servo drive motor, the speed smoothing sequence, the friction coefficient when the servo drive motor rotor rotates, and the magnetic flux of the magnet in the servo drive motor.

[0009] In some embodiments, determining the driving torque sequence of the robot arm according to the motor moment of inertia and the speed smoothing sequence specifically includes: Determine a motor speed curve according to the speed smoothing sequence; Determine a driving torque curve according to the motor speed curve and the motor rotational inertia; The driving torque sequence of the robot arm is determined according to the driving torque curve.

[0010] In some embodiments, determining the linear deviation of the gap when the robot ground rail is working through the driving torque sequence specifically includes: determining a resonance peak value according to the driving torque sequence; The linear deviation of the gap when the robot ground rail is working is determined according to the resonance peak value.

[0011] In some embodiments, determining the working vibration domain of the mechanical arm joint of the robot ground rail according to the motor rotation inertia of the servo drive motor specifically includes: Obtain the stiffness coefficient of the coupling between the reducer and the robot arm; Get the clearance coefficient of the robot arm; Get the moment of inertia of the robot arm; Get the motor moment of inertia of the servo drive motor; The resonant frequency and anti-resonant frequency of the robot arm joint of the robot ground rail are determined according to the stiffness coefficient of the coupling between the reducer and the robot arm, the clearance coefficient of the robot arm, the rotational inertia of the robot arm and the rotational inertia of the motor, and then the working vibration domain is determined.

[0012] In a second aspect, the present application provides a robot track that is easy to control, which includes a motor speed adjustment unit, and the motor speed adjustment unit includes: The acquisition module is used to obtain the motor speed sequence of the servo drive motor of the robot ground rail, remove abnormal values ​​in the motor speed sequence, and obtain a speed smoothing sequence; A processing module, used for obtaining a field control current of the servo drive motor, and determining a motor moment of inertia of the servo drive motor according to the field control current; The processing module is further used to determine the driving torque sequence of the robot arm according to the motor rotational inertia and the speed smoothing sequence, and then determine the gap linear deviation when the robot ground rail is working through the driving torque sequence; The processing module is further used to determine the working vibration domain of the mechanical arm joint of the robot ground rail according to the motor rotation inertia of the servo drive motor; The execution module is used to adjust the motor speed of the servo drive motor according to the gap linear deviation and the working vibration domain.

[0013] In a third aspect, the present application provides a computer device, comprising a memory and a processor, wherein the memory stores codes, and the processor is configured to obtain the codes and execute the above-mentioned method for controlling the robot track that is easy to control.

[0014] In a fourth aspect, the present application provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the control method of the robot track that is easy to control.

[0015] The technical solution provided by the embodiments disclosed in this application has the following beneficial effects: In the embodiment of the present application, firstly, the motor speed data at the joint of the robot arm of the robot ground rail is collected, and the abnormal values ​​are removed to obtain a speed smoothing sequence; since the servo drive motor will have a certain amount of wear during operation, the rotational inertia of the servo drive motor will change with the use time. In the present application, the field control current of the servo drive motor is collected, and the motor moment of inertia of the servo drive motor is determined by the field control current and the speed smoothing sequence of the servo drive motor, and then the driving torque sequence of the robot arm is determined by the motor moment of inertia. The driving torque sequence is the torque magnitude of the rotational force generated by the load at each moment during the operation of the robot arm of the robot ground rail; by driving The frequency domain characteristics of the torque sequence can extract the gap linear deviation, that is, extract the degree of deviation of the robot arm from the original linear control caused by the gap at the joint of the robot arm, and determine the working vibration domain through the motor rotational inertia, that is, determine the abnormal oscillation range caused by the gap at the joint of the robot arm in the working process. The speed of the servo drive motor of the robot arm on the robot rail is adjusted through the working vibration domain and the gap linear deviation determined by the actual motor speed, so as to reduce the amplitude of the nonlinear oscillation by adjusting the speed of the servo drive motor, so that the robot arm can return to linear control and avoid the influence of the nonlinear characteristics caused by the gap of the robot arm joint on the operation of the robot rail. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is an exemplary flow chart of a control method for a robot track that is easy to control according to some embodiments of the present application; Figure 2 is an exemplary flow chart of determining a rotation speed smoothing sequence according to some embodiments of the present application; Figure 3 is a simple structural schematic diagram of a robot arm on a robot ground track according to some embodiments of the present application; Figure 4 is a schematic diagram of exemplary hardware and / or software of a motor speed regulating unit according to some embodiments of the present application; Figure 5 It is a structural schematic diagram of a computer device for implementing a method for controlling a robot track that is easy to control according to some embodiments of the present application. DETAILED DESCRIPTION

[0017] The core of the present application is to obtain the motor speed sequence of the servo drive motor of the robot ground rail, remove the abnormal values ​​in the motor speed sequence, obtain the speed smoothing sequence, obtain the field control current of the servo drive motor, determine the motor moment of inertia of the servo drive motor according to the field control current, determine the driving torque sequence of the robot arm according to the motor moment of inertia and the speed smoothing sequence, determine the gap linear deviation when the robot ground rail is working according to the driving torque sequence, determine the working vibration domain of the robot arm joint of the robot ground rail according to the motor moment of inertia of the servo drive motor, adjust the motor speed of the servo drive motor according to the gap linear deviation and the working vibration domain, and then reduce the amplitude of the nonlinear oscillation by adjusting the speed of the servo drive motor, so that the robot arm returns to linear control, thereby avoiding the influence of the nonlinear characteristics caused by the gap of the robot arm joint on the operation of the robot ground rail.

[0018] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods. Figure 1 , which is an exemplary flow chart of a control method for a robot track that is easy to control according to some embodiments of the present application. The control method 100 for a robot track that is easy to control mainly includes the following steps: In step 101, a motor speed sequence of a servo drive motor of a robot ground rail is obtained, and abnormal values ​​in the motor speed sequence are removed to obtain a speed smoothing sequence.

[0019] In specific implementation, the speed sensor mounted on the servo drive motor of the robot ground rail can collect the motor speed data of the servo drive motor according to the preset sampling interval starting from the start of the robot ground rail, and all the collected speed data can be sorted according to the time series, and the sequence obtained after sorting is used as the motor speed sequence.

[0020] refer to Figure 2 According to the exemplary flow chart of removing abnormal values ​​in the motor speed sequence and obtaining a speed smoothing sequence as shown in some embodiments of the present application, removing abnormal values ​​in the motor speed sequence and obtaining a speed smoothing sequence are mainly implemented by the following steps, namely: In step 1011, an abnormal value in the motor speed sequence is determined; In step 1012, an abnormal value in the motor speed sequence is selected, and replacement data of the abnormal value is determined according to two motor speed data adjacent to the abnormal value; In step 1013, the abnormal value is replaced by the replacement data; In step 1014, the remaining abnormal values ​​in the motor speed sequence continue to be replaced to obtain a speed smoothing sequence.

[0021] In some embodiments, determining the abnormal value in the motor speed sequence may be achieved by using the following steps: Determine a speed drift value of each motor speed data in the motor speed sequence; The speed drift value of each motor speed data is compared with a preset abnormal sampling threshold, and the motor speed data with a speed drift value greater than the preset abnormal sampling threshold is taken as an abnormal value.

[0022] In a specific implementation, the speed drift value of each motor speed data in the motor speed sequence is determined, wherein the speed drift value can be determined according to the following formula: in, is the first in the motor speed sequence Motor speed data, is the length of the motor speed sequence, is the first in the motor speed sequence Motor speed data, is the first in the motor speed sequence Motor speed data, is the first in the motor speed sequence The speed drift value of the motor speed data.

[0023] It should be noted that the speed drift value in the present application is a parameter used to measure the deviation of the corresponding motor speed data from the entire motor speed sequence. The larger the speed drift value, the greater the deviation of the corresponding motor speed data from the entire motor speed sequence, and the more likely the motor speed data is an abnormal value.

[0024] It should be noted that the abnormal sampling threshold in the present application can be preset based on experience. In some embodiments, the speed drift value corresponding to the maximum motor speed data in the historical data can be used as the abnormal sampling threshold. In other embodiments, the abnormal sampling threshold can also be set to other values, which are not limited here.

[0025] In specific implementation, the average value of two motor speed data adjacent to each abnormal value may be used as replacement data for the abnormal value.

[0026] It should be noted that in the present application, the motor speed data at the mechanical arm joints of the robot ground rail are collected to obtain a motor speed sequence, and the abnormal values ​​in the motor speed sequence are replaced to obtain a speed smoothing sequence that eliminates the sampling error. This eliminates the system error caused by the sensor accuracy when collecting the motor speed data at the mechanical arm joints of the robot ground rail, thereby facilitating more precise control of the robot ground rail in the subsequent process.

[0027] In step 102, a field control current of the servo drive motor is acquired, and the motor moment of inertia of the servo drive motor is determined according to the field control current.

[0028] In some embodiments, reference Figure 3 , which is a simple structural diagram of a robot arm on a robot ground track that is easy to control according to some embodiments of the present application, and is described as follows: Servo drive motors, used to power the joints of the robotic arm; Coupling 1, used to connect the servo drive motor and the reducer, and transmit the power of the servo drive motor to the reducer; A speed reducer, used to reduce the speed of the servo drive motor; Coupling 2, used to connect the reducer and the robot arm joint, and transmit the power of the reducer to the robot arm joint; The robot arm joint is used to receive power and adjust the work of the robot arm.

[0029] It should be noted that the field control current (i.e., Y-axis current) of the servo drive motor in the present application refers to the current flowing through the stator in the servo drive motor for controlling the size of the magnetic field. In specific implementation, the current value along the magnetic field direction on the stator in the servo drive motor can be collected by a current sensor, and the current value can be used as the field control current of the servo drive motor.

[0030] In some embodiments, determining the motor moment of inertia of the servo drive motor according to the field control current may be achieved by using the following steps: Get the number of pole pairs of the servo drive motor; Acquire the rotation speed smoothing sequence; Get the friction coefficient of the servo drive motor rotor when it rotates; Obtain the magnetic flux of the magnet in the servo drive motor; The motor moment of inertia of the servo drive motor is determined according to the number of pole pairs of the servo drive motor, the speed smoothing sequence, the friction coefficient when the servo drive motor rotor rotates, and the magnetic flux of the magnet in the servo drive motor, wherein the motor moment of inertia can be determined according to the following formula: in, is the motor moment of inertia of the servo drive motor, is the number of pole pairs of the servo drive motor, is the magnetic flux of the magnet in the servo drive motor, is the field control current of the robot transmission factor concentration, is the first Motor speed data, is the first Motor speed data, The preset sampling interval for obtaining the motor speed sequence at the robot arm joint of the robot ground track, is the length of the speed smoothing sequence, is the friction coefficient when the servo drive motor rotor rotates.

[0031] It should be noted that the pole pair number of the servo drive motor, the friction coefficient when the servo drive motor rotor rotates, and the magnetic flux of the magnet in the servo drive motor in this application are all equipment parameters of the servo drive motor. When implemented specifically, they can be directly obtained from the product manual of the servo drive motor. The motor moment of inertia in this application refers to the size of the moment of inertia of the servo drive motor during normal operation.

[0032] In addition, it should be noted that due to the certain wear and tear of the servo drive motor during operation, the rotational inertia of the servo drive motor will change with the use time. In this application, the field control current of the servo drive motor is collected, and then the motor rotational inertia of the servo drive motor is determined through the field control current and speed smoothing sequence of the servo drive motor, which can eliminate the error caused by motor wear.

[0033] In step 103, the driving torque sequence of the robot arm is determined according to the motor rotational inertia and the rotation speed smoothing sequence, and then the linear deviation of the gap when the robot ground rail is working is determined by the driving torque sequence.

[0034] In some embodiments, determining the driving torque sequence of the robot arm according to the motor moment of inertia and the speed smoothing sequence can be implemented by the following steps: Determine a motor speed curve according to the speed smoothing sequence; Determine a driving torque curve according to the motor speed curve and the motor rotational inertia; A drive torque sequence is determined based on the drive torque curve.

[0035] In specific implementation, the speed smoothing sequence can be fitted into a curve by the Lagrange polynomial interpolation method in the prior art, and the curve can be used as the motor speed curve. In other embodiments, the speed smoothing sequence can also be fitted into the motor speed curve by other prior arts, which is not limited here.

[0036] In some embodiments, determining the driving torque curve according to the motor speed curve and the motor rotational inertia can be achieved by using the following steps: Get the motor moment of inertia of the servo drive motor ; Determining the transmission dissipation value of the servo drive motor ; Determine the clearance factor of the robot arm ; Get the motor speed curve ; Get the stiffness coefficient of the coupling between the reducer and the robot arm ; The driving torque curve is determined according to the motor moment of inertia of the servo drive motor, the transmission dissipation value of the servo drive motor, the clearance coefficient of the mechanical arm, and the stiffness coefficient of the coupling between the reducer and the mechanical arm, wherein the driving torque curve can be determined according to the following formula: in, is the driving torque curve, For time The complex variables, is the time variable, represents the inverse Laplace transform, represents the Laplace transform, is the motor speed curve, is the moment of inertia of the robot arm.

[0037] In a specific implementation, the average value of all motor speed data in the speed smoothing sequence may be divided by the rated power of the servo drive motor, and the obtained quotient may be used as the transmission dissipation value between the reducer and the articulated arm.

[0038] It should be noted that the transmission dissipation value in the present application is a parameter used to measure the amount of power lost in the process of the servo drive motor transmitting power to the robotic arm. The larger the transmission dissipation value, the more power the servo drive motor loses when transmitting power.

[0039] In specific implementation, to determine the clearance coefficient between the reducer and the robot arm, the difference between the bearing radius at the robot arm joint and the coupling shaft radius can be used as the clearance coefficient between the reducer and the robot arm.

[0040] It should be noted that the gap coefficient in this application is a parameter used to measure the size of the gap at the connection between the robot arm and the coupling. The larger the gap coefficient, the larger the gap between the gears at the joint of the robot arm, and the larger the nonlinear oscillation that will occur when the robot arm is working.

[0041] It should be noted that the stiffness coefficient of the coupling between the reducer and the robot arm depends on the material of the coupling. In specific implementation, the stiffness coefficient can be directly obtained from the label of the coupling.

[0042] In specific implementation, the driving torque curve may be sampled multiple times at preset intervals to obtain multiple driving torque data, and all driving torque data are sorted in the order of sampling time points, and the obtained sequence is used as the driving torque sequence.

[0043] It should be noted that the driving torque sequence in the present application is a sequence obtained by sorting the driving torque data at each moment during the operation of the robot rail by time, wherein the driving torque data refers to the torque magnitude of the rotational force generated by the robot arm to resist the load at the corresponding moment.

[0044] In some embodiments, determining the linear deviation of the gap when the robot ground rail is working through the driving torque sequence can be achieved by using the following steps: determining a resonance peak value according to the driving torque sequence; The linear deviation of the gap when the robot ground rail is working is determined according to the resonance peak value.

[0045] In some embodiments, determining the resonance peak value of the robot ground rail when it is working according to the driving torque sequence can be achieved by using the following steps: Determine a driving torque spectrum sequence according to the driving torque sequence; A resonance peak is determined based on the drive torque spectrum sequence.

[0046] In specific implementation, the driving torque sequence can be transformed from the time domain to the frequency domain by discrete Fourier transform in the prior art, the transformed sequence is used as the driving torque spectrum sequence, and the maximum driving torque spectrum value in the driving torque spectrum sequence is used as the resonance peak.

[0047] It should be noted that the resonance peak in the present application refers to the maximum amplitude of the resonance of the torque of the robot arm during the transmission process of the robot arm. The resonance peak is usually a short shock caused by a change in the load of the robot arm, that is, a short change that occurs when the robot arm grabs and puts down objects. The shock will be converted into nonlinear vibration by the gap at the joint of the robot arm, causing abnormal vibration and motion lag in the subsequent work of the robot arm.

[0048] In some embodiments, determining the gap linear deviation amount by the resonance peak value may be implemented by the following steps: Get the diameter and number of teeth of the gear at the joint of the robot arm; Get the diameter and number of teeth of the reducer gear; Get the resonance peak value; The gap linear deviation is determined according to the diameter and number of teeth of the gear at the joint of the robot arm, the diameter and number of teeth of the reducer gear and the resonance peak, wherein the gap linear deviation can be determined according to the following formula: in, is the linear deviation of the gap, is the diameter of the gear at the joint of the robot arm, is the number of teeth of the gear at the joint of the robot arm, is the diameter of the reducer gear, is the number of teeth of the reducer gear, is the resonance peak, is the ratio of pi.

[0049] It should be noted that the gap linear deviation in this application is a parameter used to measure the degree of abnormal oscillation and motion lag during the operation of the robotic arm. The larger the gap linear deviation, the more serious the abnormal oscillation and motion lag of the robotic arm in subsequent work projects.

[0050] In specific implementation, the robot arm and the reducer are connected through a coupling, and power is transmitted through gears. The gear that provides power in the coupling can be used as the reducer gear, and the gear that receives power can be used as the robot arm gear.

[0051] It should be noted that the present application determines the resonance peak by obtaining the sequence of torque values ​​of the robot arm in order to resist the rotational force generated by the load, that is, the frequency domain characteristics of the driving torque sequence. The resonance peak refers to the maximum amplitude of the torque of the robot arm that resonates during the transmission of the robot arm. The resonance peak is usually a short-term shock caused by a change in the load of the robot arm, that is, a short-term change that occurs when the robot arm grabs and puts down objects. The impact will cause nonlinear vibration at the joint of the robot arm, causing abnormal oscillation and motion lag in the subsequent work of the robot arm. The present application extracts the degree of abnormal oscillation and motion lag, that is, the gap linear deviation, to facilitate the subsequent precise control of the robot arm of the robot rail through the gap linear deviation.

[0052] In step 104, the working vibration domain of the robot arm joint of the robot ground track is determined according to the motor rotation inertia of the servo drive motor.

[0053] In some embodiments, determining the working vibration domain of the mechanical arm joint of the robot ground rail according to the motor rotation inertia of the servo drive motor can be specifically implemented by the following steps: Get the stiffness coefficient of the coupling between the reducer and the robot arm ; Get the clearance coefficient of the robot arm ; Get the moment of inertia of the robot arm ; Get the motor moment of inertia of the servo drive motor ; The resonant frequency and anti-resonant frequency of the robot arm joint of the robot ground rail are determined according to the stiffness coefficient of the coupling between the reducer and the robot arm, the clearance coefficient of the robot arm, the moment of inertia of the robot arm and the moment of inertia of the motor, and then the working vibration domain is determined, wherein the resonant frequency and the anti-resonant frequency can be determined by the following formula: in, is the resonant frequency, is the anti-resonance frequency, is the circumference of a circle, is the moment of inertia of the robot arm.

[0054] It should be noted that the moment of inertia of the robot arm in the present application is a parameter related to the mass distribution of the robot arm. In specific implementation, it can be directly obtained from the label of the robot arm.

[0055] In a specific implementation, the resonant frequency may be used as the upper limit of the interval, the anti-resonant frequency may be used as the lower limit of the interval, and the obtained interval range may be used as the working vibration domain.

[0056] It should be noted that the working vibration domain in this application refers to the abnormal vibration range in the working process of the robot arm in theory under a fixed gap coefficient.

[0057] In step 105, the motor speed of the servo drive motor is adjusted according to the gap linear deviation and the working vibration domain.

[0058] In some embodiments, adjusting the motor speed of the servo drive motor according to the gap linear deviation and the working vibration domain can be achieved by using the following steps: Get the motor power of the servo drive motor; Get the motor speed of the servo drive motor at the current moment; Obtaining the gap linear deviation; Obtaining a resonant frequency and an anti-resonant frequency in the working vibration domain; The motor speed of the servo drive motor after adjustment is determined according to the motor power of the servo drive motor, the motor speed of the servo drive motor at the current moment, the linear deviation of the gap, the resonant frequency and the anti-resonant frequency in the working vibration domain, wherein the motor speed of the servo drive motor after adjustment can be determined according to the following formula: in, is the motor speed of the servo drive motor after adjustment, is the motor speed of the servo drive motor at the current moment, is the motor power of the servo drive motor, is the resonant frequency in the working vibration domain, is the anti-resonance frequency in the working vibration domain, is the linear deviation of the gap, is the motor moment of inertia, is the ratio of pi.

[0059] It should be noted that the present application determines the abnormal oscillation range in the theoretical working process of the robotic arm, that is, the working vibration domain, and adjusts the speed of the servo drive motor of the robotic arm on the robot ground rail through the working vibration domain and the gap linear deviation determined by the actual motor speed in the present application. By adjusting the speed of the servo drive motor, the impact of nonlinear oscillation is reduced, so that the robotic arm can adapt to the nonlinear characteristics that appear in the working process.

[0060] In addition, in another aspect of the present application, in some embodiments, the present application provides a robot track that is easy to control, which includes a motor speed adjustment unit, referring to Figure 4 , which is a schematic diagram of exemplary hardware and / or software of a motor speed regulating unit according to some embodiments of the present application, the motor speed regulating unit 400 includes: a collection module 401, a processing module 402 and an execution module 403, which are described as follows: The acquisition module 401 in the present application is mainly used to obtain the motor speed sequence of the servo drive motor of the robot ground rail, remove abnormal values ​​in the motor speed sequence, and obtain a speed smoothing sequence; Processing module 402, in the present application, the processing module 402 is mainly used to obtain the field control current of the servo drive motor, and determine the motor moment of inertia of the servo drive motor according to the field control current; It should be noted that the processing module 402 in the present application is also used to determine the driving torque sequence of the robot arm according to the motor moment of inertia and the speed smoothing sequence, and then determine the linear deviation of the gap when the robot ground rail is working through the driving torque sequence; In addition, the processing module 402 in the present application is also used to determine the working vibration domain of the robot arm joint of the robot ground rail according to the motor rotation inertia of the servo drive motor; Execution module 403, in the present application, execution module 403 is mainly used to adjust the motor speed of the servo drive motor according to the gap linear deviation and the working vibration domain.

[0061] In addition, the present application also provides a computer device, which includes a memory and a processor, wherein the memory stores codes, and the processor is configured to obtain the codes and execute the above-mentioned control method of the robot track that is easy to control.

[0062] In some embodiments, reference Figure 5 , which is a schematic diagram of the structure of a computer device for implementing a control method for a robot track that is easy to control according to some embodiments of the present application. The control method for a robot track that is easy to control in the above embodiments can be achieved by Figure 5 The computer device 500 shown in the figure is implemented, and the computer device 500 includes at least one processor 501, a communication bus 502, a memory 503 and at least one communication interface 504.

[0063] Processor 501 can be a general-purpose central processing unit (CPU), an application-specific integrated circuit (ASIC) or one or more executions of the control method for controlling the easy-to-control robot track in the present application.

[0064] Communication bus 502 may include a pathway for transmitting information between the above-mentioned components.

[0065] The memory 503 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, an optical disc storage (including a compressed optical disc, a laser disc, an optical disc, a digital versatile disc, a Blu-ray disc, etc.), a magnetic disk or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of an instruction or data structure and can be accessed by a computer, but is not limited thereto. The memory 503 may exist independently and be connected to the processor 501 via the communication bus 502. The memory 503 may also be integrated with the processor 501.

[0066] The memory 503 is used to store the program code for executing the solution of the present application, and the execution is controlled by the processor 501. The processor 501 is used to execute the program code stored in the memory 503. The program code may include one or more software modules. The control method of the robot ground track that is easy to control in the above embodiment can be implemented by the processor 501 and one or more software modules in the program code in the memory 503.

[0067] The communication interface 504 uses any transceiver or other device for communicating with other devices or communication networks, such as Ethernet, radio access network (RAN), wireless local area networks (WLAN), etc.

[0068] In a specific implementation, as an embodiment, a computer device may include multiple processors, each of which may be a single-CPU processor or a multi-CPU processor. The processor here may refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0069] The above-mentioned computer device may be a general-purpose computer device or a special-purpose computer device. In a specific implementation, the computer device may be a desktop computer, a portable computer, a network server, a personal digital assistant (PDA), a mobile phone, a tablet computer, a wireless terminal device, a communication device or an embedded device. The embodiment of the present application does not limit the type of computer device.

[0070] In addition, the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the control method of the robot track that is easy to control.

[0071] In summary, in the robot ground rail and control method that are easy to control disclosed in the embodiments of the present application, first, the motor speed data at the joints of the robot arm of the robot ground rail are collected, and the abnormal values ​​are removed to obtain a speed smoothing sequence; since the servo drive motor will have a certain amount of wear during operation, the rotational inertia of the servo drive motor will change with the use time. In the present application, the field control current of the servo drive motor is collected, and the motor rotational inertia of the servo drive motor is determined by the field control current and the speed smoothing sequence of the servo drive motor, and then the driving torque sequence of the robot arm is determined by the motor rotational inertia. The driving torque sequence refers to the torque size of the rotational force generated by the robot arm of the robot ground rail at each moment in the operation process to resist the load; The frequency domain characteristics of the over-driven torque sequence are used to extract the gap linear deviation, which refers to the degree to which the robot arm deviates from the original linear control due to the gap at the joint of the robot arm, and the working vibration domain is determined by the motor rotational inertia. The working vibration domain refers to the abnormal oscillation range that theoretically will be caused by the gap at the joint in the working engineering of the robot arm. The speed of the servo drive motor of the robot arm on the robot rail is adjusted through the working vibration domain and the gap linear deviation determined by the actual motor speed in this application. The amplitude of the nonlinear oscillation is reduced by adjusting the speed of the servo drive motor, so that the robot arm can return to linear control, thereby avoiding the influence of the nonlinear characteristics caused by the gap of the robot arm joint on the operation of the robot rail.

[0072] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0073] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A method for controlling a robot track that is easy to control, characterized in that: The steps include: Acquire a motor speed sequence of a servo drive motor of a robot ground rail, remove abnormal values ​​in the motor speed sequence, and obtain a speed smoothing sequence; Acquiring a field control current of the servo drive motor, and determining the motor moment of inertia of the servo drive motor according to the field control current; Determine the driving torque sequence of the robot arm according to the motor moment of inertia and the speed smoothing sequence, and then determine the linear deviation of the gap when the robot ground rail is working through the driving torque sequence; Determine the working vibration domain of the robot arm joint of the robot ground track according to the motor moment of inertia of the servo drive motor; The motor speed of the servo drive motor is adjusted according to the gap linear deviation and the working vibration domain.

2. The method according to claim 1, characterized in that Removing abnormal values ​​from the motor speed sequence to obtain a speed smoothing sequence specifically includes: Determining an abnormal value in the motor speed sequence; Select an abnormal value in the motor speed sequence, and determine replacement data for the abnormal value according to two motor speed data adjacent to the abnormal value; Replace the abnormal value by the replacement data; Continue to replace the remaining abnormal values ​​in the motor speed sequence to obtain a speed smoothing sequence.

3. The method according to claim 2, characterized in that Determining the abnormal value in the motor speed sequence specifically includes: Determine a speed drift value of each motor speed data in the motor speed sequence; The speed drift value of each motor speed data is compared with a preset abnormal sampling threshold, and the motor speed data with a speed drift value greater than the preset abnormal sampling threshold is taken as an abnormal value.

4. The method according to claim 1, characterized in that Determining the motor moment of inertia of the servo drive motor according to the field control current specifically includes: Get the number of pole pairs of the servo drive motor; Acquire the rotation speed smoothing sequence; Get the friction coefficient of the servo drive motor rotor when it rotates; Obtain the magnetic flux of the magnet in the servo drive motor; The motor rotational inertia of the servo drive motor is determined according to the number of pole pairs of the servo drive motor, the speed smoothing sequence, the friction coefficient when the servo drive motor rotor rotates, and the magnetic flux of the magnet in the servo drive motor.

5. The method according to claim 1, characterized in that Determining the driving torque sequence of the robot arm according to the motor moment of inertia and the speed smoothing sequence specifically includes: Determine a motor speed curve according to the speed smoothing sequence; Determine a driving torque curve according to the motor speed curve and the motor rotational inertia; The driving torque sequence of the robot arm is determined according to the driving torque curve.

6. The method according to claim 1, characterized in that Determining the linear deviation of the gap when the robot ground rail is working by the driving torque sequence specifically includes: determining a resonance peak value according to the driving torque sequence; The linear deviation of the gap when the robot ground rail is working is determined according to the resonance peak value.

7. The method according to claim 1, characterized in that The working vibration domain of the robot arm joint of the robot ground track is determined according to the motor rotation inertia of the servo drive motor, which specifically includes: Obtain the stiffness coefficient of the coupling between the reducer and the robot arm; Get the clearance coefficient of the robot arm; Get the moment of inertia of the robot arm; Get the motor moment of inertia of the servo drive motor; The resonant frequency and anti-resonant frequency of the robot arm joint of the robot ground rail are determined according to the stiffness coefficient of the coupling between the reducer and the robot arm, the clearance coefficient of the robot arm, the rotational inertia of the robot arm and the rotational inertia of the motor, and then the working vibration domain is determined.

8. A robot track that is easy to control, characterized in that: A motor speed regulating unit is included, and the motor speed regulating unit includes: The acquisition module is used to obtain the motor speed sequence of the servo drive motor of the robot ground rail, remove abnormal values ​​in the motor speed sequence, and obtain a speed smoothing sequence; A processing module, used for obtaining a field control current of the servo drive motor, and determining a motor moment of inertia of the servo drive motor according to the field control current; The processing module is further used to determine the driving torque sequence of the robot arm according to the motor rotational inertia and the speed smoothing sequence, and then determine the linear deviation of the gap when the robot ground rail is working through the driving torque sequence; The processing module is further used to determine the working vibration domain of the mechanical arm joint of the robot ground rail according to the motor rotation inertia of the servo drive motor; The execution module is used to adjust the motor speed of the servo drive motor according to the gap linear deviation and the working vibration domain.

9. A computer device, characterized in that: The computer device includes a memory and a processor, the memory stores codes, and the processor is configured to obtain the codes and execute the control method of the robot track that is easy to control according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the control method of the easy-to-control robot track according to any one of claims 1 to 7 is implemented.

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