A robot floor track that is convenient to control and its control method

Abstract

The present application provides a robot ground rail that is convenient to control and its control method. By obtaining the motor speed sequence of the servo drive motor of the robot ground rail, removing the outliers in the motor speed sequence to obtain a smoothed speed sequence, obtaining the field control current of the servo drive motor, determining the motor moment of inertia of the servo drive motor according to the field control current, determining the driving torque sequence of the robotic arm according to the motor moment of inertia and the smoothed speed sequence, determining the gap linear deviation amount during the operation of the robot ground rail according to the driving torque sequence, determining the working vibration range of the robotic arm joints of the robot ground rail according to the motor moment of inertia of the servo drive motor, adjusting the motor speed of the servo drive motor through the gap linear deviation amount and the working vibration range, and reducing the amplitude of the non-linear oscillation by adjusting the speed of the servo drive motor, so that the robotic arm returns to linear control again, thereby avoiding the influence of the non-linear characteristics caused by the gaps of the robotic arm joints on the operation of the robot ground rail.

Description

Technical Field

[0001] The present application relates to the technical field of robot floor tracks. More specifically, the present application relates to a robot floor track that is easy to control and its control method. Background Art

[0002] A robot floor track is a walking system that cooperates with the movement of an industrial robot. It mainly consists of an overall fixed base, a power organization, a power transmission organization, a guiding organization, a robot device sliding table, a protection organization, a limit organization, its walking accessories, and the robotic arm of the robot, etc. It is used to accelerate the realization of industrial production automation and replace manual labor to safely complete operations.

[0003] In the existing technology, the control of the robotic arm on the robot floor track mainly stabilizes the working process of the robotic arm on the robot floor track through proportional-integral-derivative control (PID) and model predictive control (MPC) in the existing technology. However, due to the long-term operation of the robot floor track, the joints of the robotic arm are worn, which leads to gaps in the joints of the robotic arm. Such tiny gaps will cause unpredictable non-linear characteristics in the working process of the robotic arm. Both proportional-integral-derivative control and model predictive control are for the control of linear models. When non-linear characteristics occur during the working process of the robot floor track, it is difficult to adjust and adapt by itself. Therefore, how to avoid the influence of the non-linear characteristics caused by the gaps in the joints of the robotic arm on the working of the robot floor track has become a difficult problem faced by the industry. Summary of the Invention

[0004] The present application provides a robot floor track that is easy to control and its control method, which can avoid the influence of non-linear characteristics caused by the gaps in the joints of the robotic arm on the working of the robot floor track.

[0005] In a first aspect, the present application provides a control method for a robot floor track that is easy to control, including the following steps:

[0006] Obtain the motor speed sequence of the servo drive motor of the robot floor track, remove the outliers in the motor speed sequence to obtain a smoothed speed sequence;

[0007] 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;

[0008] Determine the driving torque sequence of the robotic arm according to the motor moment of inertia and the smoothed speed sequence, and then determine the gap linear deviation amount during the working of the robot floor track through the driving torque sequence;

[0009] Determine the working vibration domain of the joints of the robotic arm of the robot floor track according to the motor moment of inertia of the servo drive motor;

[0010] Adjust the motor speed of the servo drive motor according to the linear deviation amount of the gap and the working vibration range.

[0011] In some embodiments, removing the outliers in the motor speed sequence to obtain a smoothed speed sequence specifically includes:

[0012] Determine the outliers in the motor speed sequence;

[0013] Select an outlier in the motor speed sequence, and determine the replacement data for this outlier according to the two motor speed data adjacent to this outlier;

[0014] Replace this outlier with the replacement data;

[0015] Continue to replace the remaining outliers in the motor speed sequence to obtain a smoothed speed sequence.

[0016] In some embodiments, determining the outliers in the motor speed sequence specifically includes:

[0017] Determine the speed drift value of each motor speed data in the motor speed sequence;

[0018] Compare the speed drift value of each motor speed data with a preset abnormal sampling threshold, and regard the motor speed data with a speed drift value greater than the preset abnormal sampling threshold as an outlier.

[0019] In some embodiments, determining the moment of inertia of the motor of the servo drive motor according to the field control current specifically includes:

[0020] Obtain the number of pole pairs of the servo drive motor;

[0021] Obtain the smoothed speed sequence;

[0022] Obtain the friction coefficient when the rotor of the servo drive motor rotates;

[0023] Obtain the magnetic flux of the magnet in the servo drive motor;

[0024] Determine the moment of inertia of the motor of the servo drive motor according to the number of pole pairs of the servo drive motor, the smoothed speed sequence, the friction coefficient when the rotor of the servo drive motor rotates, and the magnetic flux of the magnet in the servo drive motor.

[0025] In some embodiments, determining the driving torque sequence of the robotic arm according to the moment of inertia of the motor and the smoothed speed sequence specifically includes:

[0026] Determine the motor speed curve according to the smoothed speed sequence;

[0027] Determine the driving torque curve according to the motor speed curve and the moment of inertia of the motor;

[0028] Determine the driving torque sequence of the robotic arm according to the driving torque curve.

[0029] In some embodiments, determining the clearance linear deviation amount when the robot moves along the ground rail through the driving torque sequence specifically includes:

[0030] Determine the resonance peak value according to the driving torque sequence;

[0031] Determine the clearance linear deviation amount when the robot moves along the ground rail according to the resonance peak value.

[0032] In some embodiments, determining the working vibration range of the robotic arm joint of the robot ground rail according to the motor moment of inertia of the servo drive motor specifically includes:

[0033] Obtain the stiffness coefficient of the coupling between the reducer and the robotic arm;

[0034] Obtain the clearance coefficient of the robotic arm;

[0035] Obtain the moment of inertia of the robotic arm;

[0036] Obtain the motor moment of inertia of the servo drive motor;

[0037] Determine the resonance frequency and anti-resonance frequency of the robotic arm joint of the robot ground rail according to the stiffness coefficient of the coupling between the reducer and the robotic arm, the clearance coefficient of the robotic arm, the moment of inertia of the robotic arm, and the motor moment of inertia, and then determine the working vibration range.

[0038] In a second aspect, the present application provides a robot ground rail that is easy to control, which includes a motor speed adjustment unit, and the motor speed adjustment unit includes:

[0039] An acquisition module, configured to acquire the motor speed sequence of the servo drive motor of the robot ground rail, remove the outliers in the motor speed sequence, and obtain a smoothed speed sequence;

[0040] A processing module, configured to acquire 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;

[0041] The processing module is further configured to determine the driving torque sequence of the robotic arm according to the motor moment of inertia and the smoothed speed sequence, and then determine the clearance linear deviation amount when the robot ground rail works through the driving torque sequence;

[0042] The processing module is further configured to determine the working vibration range of the robotic arm joint of the robot ground rail according to the motor moment of inertia of the servo drive motor;

[0043] An execution module, configured to adjust the motor speed of the servo drive motor according to the gap linear deviation and the working vibration domain.

[0044] In a third aspect, the present application provides a computer device, which includes a memory and a processor. The memory stores code, and the processor is configured to obtain the code and execute the control method of the robot floor rail that is easy to control as described above.

[0045] In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the control method of the robot floor rail that is easy to control as described above is implemented.

[0046] The technical solutions provided by the embodiments disclosed in the present application have the following beneficial effects:

[0047] In the embodiments of the present application, first, the motor speed data at the robotic arm joints of the robot floor rail is collected, and outliers are removed to obtain a smooth speed sequence; since the servo drive motor will experience certain wear during operation, the moment of inertia of the servo drive motor will change over 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 of the servo drive motor and the smooth speed sequence. Furthermore, the driving torque sequence of the robotic arm is determined by the motor moment of inertia. The driving torque sequence is the magnitude of the torque of the rotational force generated by the robotic arm at each moment during the operation of the robot floor rail to resist the load; the gap linear deviation can be extracted through the frequency domain characteristics of the driving torque sequence, that is, the degree of deviation of the robotic arm from the original linear control caused by the gap at the robotic arm joints is extracted, and the working vibration domain is determined by the motor moment of inertia, that is, the abnormal oscillation range caused by the gap at the joints during the operation of the robotic arm is determined. The speed of the servo drive motor of the robotic arm on the robot floor rail is adjusted by the working vibration domain and the gap linear deviation determined by the actual motor speed, so as to reduce the amplitude of the non-linear oscillation by adjusting the speed of the servo drive motor, enabling the robotic arm to return to linear control again and avoiding the influence of the non-linear characteristics caused by the gap at the robotic arm joints on the operation of the robot floor rail. Description of the Drawings

[0048] Figure 1 is an exemplary flowchart of a control method for a robot floor rail that is easy to control according to some embodiments of the present application;

[0049] Figure 2 is an exemplary flowchart of determining a smooth speed sequence according to some embodiments of the present application;

[0050] Figure 3It is a schematic diagram of the simple structure of the robotic arm on the robotic floor track shown in some embodiments of the present application;

[0051] Figure 4 It is a schematic diagram of the exemplary hardware and / or software of the motor speed regulation unit shown in some embodiments of the present application;

[0052] Figure 5 It is a schematic diagram of the structure of a computer device for implementing a control method of a robotic floor track that is easy to control shown in some embodiments of the present application. Detailed implementation manners

[0053] The core of the present application is to obtain the motor speed sequence of the servo drive motor of the robotic floor track, remove the outliers in the motor speed sequence to obtain a smoothed speed sequence, obtain the field control current of the servo drive motor, determine the moment of inertia of the servo drive motor according to the field control current, determine the driving torque sequence of the robotic arm according to the moment of inertia and the smoothed speed sequence, determine the gap linear deviation amount when the robotic floor track is working according to the driving torque sequence, determine the working vibration range of the robotic arm joints of the robotic floor track according to the moment of inertia of the servo drive motor, adjust the motor speed of the servo drive motor through the gap linear deviation amount and the working vibration range, and then reduce the amplitude of the non-linear oscillation by adjusting the speed of the servo drive motor, so that the robotic arm returns to linear control again, thereby avoiding the influence of the non-linear characteristics caused by the gaps of the robotic arm joints on the operation of the robotic floor track.

[0054] To better understand the above technical solutions, the above technical solutions will be described in detail below in conjunction with the accompanying drawings of the specification and specific implementation manners. Refer to Figure 1 , this figure is an exemplary flowchart of a control method for a robotic floor track that is easy to control shown in some embodiments of the present application. The control method 100 for the robotic floor track that is easy to control mainly includes the following steps:

[0055] In step 101, obtain the motor speed sequence of the servo drive motor of the robotic floor track, and remove the outliers in the motor speed sequence to obtain a smoothed speed sequence.

[0056] In specific implementation, the speed sensor mounted on the servo drive motor of the robotic floor track can collect the motor speed data of the servo drive motor at a preset sampling interval starting from when the robotic floor track starts, and sort all the collected speed data according to the time sequence, and use the sequence obtained after sorting as the motor speed sequence.

[0057] Refer to Figure 2, An exemplary flowchart of removing outliers in the motor speed sequence according to some embodiments of the present application to obtain a smoothed speed sequence. Removing outliers in the motor speed sequence to obtain a smoothed speed sequence is mainly implemented by the following steps, namely:

[0058] In step 1011, determine the outliers in the motor speed sequence;

[0059] In step 1012, select an outlier in the motor speed sequence, and determine the replacement data for this outlier according to the two motor speed data adjacent to this outlier;

[0060] In step 1013, replace this outlier with the replacement data;

[0061] In step 1014, continue to replace the remaining outliers in the motor speed sequence to obtain a smoothed speed sequence.

[0062] In some embodiments, determining the outliers in the motor speed sequence can be implemented by the following steps:

[0063] Determine the speed drift value of each motor speed data in the motor speed sequence;

[0064] Compare the speed drift value of each motor speed data with a preset abnormal sampling threshold, and regard the motor speed data with a speed drift value greater than the preset abnormal sampling threshold as an outlier.

[0065] Specifically, when implementing, determine the speed drift value of each motor speed data in the motor speed sequence, where the speed drift value can be determined according to the following formula:

[0066]

[0067] Where is the th motor speed data in the motor speed sequence, is the length of the motor speed sequence, is the th motor speed data in the motor speed sequence, is the th motor speed data in the motor speed sequence, is the th speed drift value of the motor speed data in the motor speed sequence.

[0068] It should be noted that in this application, the rotational speed drift value is a parameter used to measure the deviation of the corresponding motor rotational speed data from the entire motor rotational speed sequence. The larger the rotational speed drift value, the greater the deviation of the corresponding motor rotational speed data from the entire motor rotational speed sequence, and the more likely this motor rotational speed data is an outlier.

[0069] It should be noted that the abnormal sampling threshold in this application can be preset according to experience. In some embodiments, the rotational speed drift value corresponding to the largest motor rotational 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.

[0070] In specific implementation, the average value of the two motor rotational speed data adjacent to each outlier can be used as the replacement data for this outlier.

[0071] It should be noted that in this application, by collecting the motor rotational speed data at the mechanical arm joints of the robot ground rail, a motor rotational speed sequence is obtained, and the outliers in the motor rotational speed sequence are replaced, thereby obtaining a rotational speed smoothing sequence with sampling errors eliminated, excluding the systematic errors caused by the sensor accuracy when collecting the motor rotational speed data at the mechanical arm joints of the robot ground rail, which is convenient for more accurate control of the robot ground rail subsequently.

[0072] In step 102, 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.

[0073] In some embodiments, refer to Figure 3 , this figure is a simple structure diagram of the robotic arm on a robot ground rail that is easy to control according to some embodiments of the present application, and is described as follows:

[0074] The servo drive motor is used to provide power for the robotic arm joint;

[0075] Coupling 1 is used to connect the servo drive motor and the reducer, and transmit the power of the servo drive motor to the reducer;

[0076] The reducer is used to reduce the speed of the servo drive motor;

[0077] Coupling 2 is used to connect the reducer and the robotic arm joint, and transmit the power of the reducer to the robotic arm joint;

[0078] The robotic arm joint is used to receive power and adjust the operation of the robotic arm.

[0079] It should be noted that the field control current (i.e., the Y-axis current) of the servo drive motor in this application refers to the current flowing through the stator of the servo drive motor for controlling the magnetic field magnitude. Specifically, in implementation, the current value along the magnetic field direction on the stator of the servo drive motor can be collected by a current sensor, and this current value is used as the field control current of the servo drive motor.

[0080] In some embodiments, determining the motor inertia of the servo drive motor according to the field control current can be implemented by the following steps:

[0081] Obtain the number of pole pairs of the servo drive motor;

[0082] Obtain the rotation speed smoothing sequence;

[0083] Obtain the friction coefficient when the rotor of the servo drive motor rotates;

[0084] Obtain the magnetic flux of the magnet in the servo drive motor;

[0085] Determine the motor inertia of the servo drive motor according to the number of pole pairs of the servo drive motor, the rotation speed smoothing sequence, the friction coefficient when the rotor of the servo drive motor rotates, and the magnetic flux of the magnet in the servo drive motor. Among them, the motor inertia can be determined according to the following formula:

[0086]

[0087] Among them, is the motor 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 in the set of manipulator transmission factors, is the th motor rotation speed data in the rotation speed smoothing sequence, is the th motor rotation speed data in the rotation speed smoothing sequence, is the preset sampling interval when obtaining the motor rotation speed sequence at the manipulator joint of the robot ground rail, is the length of the rotation speed smoothing sequence, is the friction coefficient when the rotor of the servo drive motor rotates.

[0088] It should be noted that the number of pole pairs of the servo drive motor, the friction coefficient when the rotor of the servo drive motor 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. Specifically, in implementation, they can be directly obtained from the product manual of the servo drive motor, and the motor inertia in this application refers to the magnitude of the inertia when the servo drive motor is working normally.

[0089] In addition, it should be noted that since there will be a certain amount of wear during the operation of the servo drive motor, the moment of inertia of the servo drive motor will change with the service time. In this application, by collecting the field control current of the servo drive motor, and then determining the motor moment of inertia of the servo drive motor through the field control current and the rotational speed smoothing sequence of the servo drive motor, the error caused by motor wear can be excluded.

[0090] In step 103, according to the motor moment of inertia and the rotational speed smoothing sequence, determine the driving torque sequence of the robotic arm, and then determine the clearance linear deviation amount during the operation of the robot's ground rail through the driving torque sequence.

[0091] In some embodiments, determining the driving torque sequence of the robotic arm according to the motor moment of inertia and the rotational speed smoothing sequence can be implemented by the following steps:

[0092] Determine the motor speed curve according to the rotational speed smoothing sequence;

[0093] Determine the driving torque curve according to the motor speed curve and the motor moment of inertia;

[0094] Determine the driving torque sequence according to the driving torque curve.

[0095] In specific implementation, the rotational speed smoothing sequence can be fitted into a curve by using the Lagrange polynomial interpolation method in the prior art, and this curve is used as the motor speed curve. In other embodiments, the rotational speed smoothing sequence can also be fitted into the motor speed curve by other prior arts, which is not limited here.

[0096] In some embodiments, determining the driving torque curve according to the motor speed curve and the motor moment of inertia can be implemented by the following steps:

[0097] Obtain the motor moment of inertia of the servo drive motor ;

[0098] Determine the transmission dissipation value of the servo drive motor ;

[0099] Determine the clearance coefficient of the robotic arm ;

[0100] Obtain the motor speed curve ;

[0101] Obtain the stiffness coefficient of the coupling between the reducer and the robotic arm ;

[0102] Determine the driving torque curve based on the motor moment of inertia of the servo drive motor, the transmission dissipation value of the servo drive motor, the clearance coefficient of the robotic arm, and the stiffness coefficient of the coupling between the reducer and the robotic arm. Among them, the driving torque curve can be determined according to the following formula:

[0103]

[0104] Among them, is the driving torque curve, is time is the complex variable of 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 robotic arm.

[0105] In specific implementation, the average value of all motor speed data in the speed smoothing sequence can be divided by the rated power of the servo drive motor, and the obtained quotient value can be used as the transmission dissipation value between the reducer and the joint arm.

[0106] It should be noted that in this application, the transmission dissipation value is a parameter used to measure the power loss during the process of the servo drive motor transmitting power to the robotic arm. The larger the transmission dissipation value, the more power is lost when the servo drive motor transmits power.

[0107] In specific implementation, to determine the clearance coefficient between the reducer and the robotic arm, the difference between the bearing radius at the joint of the robotic arm and the shaft diameter radius of the coupling can be used as the clearance coefficient between the reducer and the robotic arm.

[0108] It should be noted that in this application, the clearance coefficient is a parameter used to measure the clearance size at the connection between the robotic arm and the coupling. The larger the clearance coefficient, the larger the clearance between the gears at the joint of the robotic arm, and the greater the non-linear oscillation that will occur when the robotic arm works.

[0109] It should be noted that the stiffness coefficient of the coupling between the reducer and the robotic arm depends on the material of the coupling. In specific implementation, this stiffness coefficient can be directly obtained from the label of the coupling.

[0110] In specific implementation, the driving torque curve can be sampled multiple times at a preset interval to obtain multiple driving torque data, and all the driving torque data can be sorted in the order of the sampling time points, and the obtained sequence can be used as the driving torque sequence.

[0111] It should be noted that in this application, the driving torque sequence is a sequence obtained by sorting the driving torque data at each moment during the operation of the robot's ground rail in time order. Among them, the driving torque data refers to the magnitude of the torque of the rotational force generated by the robotic arm to resist the load at the corresponding moment.

[0112] In some embodiments, determining the clearance linear deviation amount during the operation of the robot's ground rail based on the driving torque sequence can be achieved by the following steps:

[0113] Determine the resonance peak value according to the driving torque sequence;

[0114] Determine the clearance linear deviation amount during the operation of the robot's ground rail according to the resonance peak value.

[0115] In some embodiments, determining the resonance peak value during the operation of the robot's ground rail according to the driving torque sequence can be achieved by the following steps:

[0116] Determine the driving torque frequency spectrum sequence according to the driving torque sequence;

[0117] Determine the resonance peak value according to the driving torque frequency spectrum sequence.

[0118] Specifically, in implementation, the driving torque sequence can be transformed from the time domain to the frequency domain through the discrete Fourier transform in the prior art, and the transformed sequence is used as the driving torque frequency spectrum sequence, and the maximum driving torque spectrum value in the driving torque frequency spectrum sequence is used as the resonance peak value.

[0119] It should be noted that in this application, the resonance peak value refers to the maximum value of the amplitude of the resonance of the torque of the robotic arm during the transmission process of the robotic arm. This resonance peak value is usually caused by a short-term change when the load of the robotic arm changes, that is, when the robotic arm grasps and releases an object. This impact will be converted into non-linear vibration by the clearance at the robotic arm joint, resulting in abnormal vibration and motion lag in the subsequent operation process of the robotic arm.

[0120] In some embodiments, determining the clearance linear deviation amount according to the resonance peak value can be achieved by the following steps:

[0121] Obtain the diameter and number of teeth of the gear at the robotic arm joint;

[0122] Obtain the diameter and number of teeth of the reducer gear;

[0123] Obtain the resonance peak value;

[0124] Determine the clearance linear deviation amount according to the diameter and number of teeth of the gear at the robotic arm joint, the diameter and number of teeth of the reducer gear, and the resonance peak value. Among them, the clearance linear deviation amount can be determined according to the following formula:

[0125]

[0126] Among them, is the linear deviation of the gap, is the diameter of the gear at the robotic arm joint, is the number of teeth of the gear at the robotic arm joint, is the diameter of the reducer gear, is the number of teeth of the reducer gear, is the resonance peak value, is pi.

[0127] It should be noted that the linear deviation of the gap 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 linear deviation of the gap, the more serious the abnormal oscillation and motion lag that will occur in the subsequent operation of the robotic arm.

[0128] In specific implementation, the robotic arm and the reducer are connected by a coupling, and power is transmitted through gears. The gear that provides power in the coupling can be regarded as the reducer gear, and the gear that receives power can be regarded as the robotic arm gear.

[0129] It should be noted that in this application, by obtaining the sequence of the torque values of the rotational forces generated by the robotic arm to resist the load, that is, the frequency domain characteristics of the driving torque sequence, the resonance peak value is determined. The resonance peak value refers to the maximum value of the amplitude at which the torque of the robotic arm resonates during the transmission process of the robotic arm. This resonance peak value usually occurs due to the short-term changes caused by the short-term impact when the load of the robotic arm changes, that is, when the robotic arm grasps and releases items. This impact will cause non-linear vibration at the joints of the robotic arm, resulting in abnormal oscillation and motion lag in the subsequent operation of the robotic arm. In this application, by extracting the degree of this abnormal oscillation and motion lag, that is, the linear deviation of the gap, it is convenient to accurately control the robotic arm of the robot ground rail through this linear deviation of the gap in the subsequent process.

[0130] In step 104, determine the working vibration range of the robotic arm joint of the robot ground rail according to the motor inertia of the servo drive motor.

[0131] In some embodiments, determining the working vibration range of the robotic arm joint of the robot ground rail according to the motor inertia of the servo drive motor can be specifically implemented by the following steps:

[0132] Obtain the stiffness coefficient of the coupling between the reducer and the robotic arm ;

[0133] Obtain the gap coefficient of the robotic arm ;

[0134] Obtain the inertia of the robotic arm ;

[0135] Obtain the moment of inertia of the servo drive motor ;

[0136] Determine the resonance frequency and anti-resonance frequency of the robotic arm joint of the robot floor track based on the stiffness coefficient of the coupling between the speed reducer and the robotic arm, the clearance coefficient of the robotic arm, the moment of inertia of the robotic arm, and the moment of inertia of the motor, and then determine the working vibration domain. Among them, the resonance frequency and the anti-resonance frequency can be determined by the following formula:

[0137]

[0138] Among them, is the resonance frequency, is the anti-resonance frequency, is pi, is the moment of inertia of the robotic arm.

[0139] It should be noted that the moment of inertia of the robotic arm in this application is a parameter related to the mass distribution of the robotic arm. When specifically implemented, it can be directly obtained from the label of the robotic arm.

[0140] When specifically implemented, the resonance frequency can be used as the upper limit of the interval, the anti-resonance frequency can be used as the lower limit of the interval, and the obtained interval range can be used as the working vibration domain.

[0141] It should be noted that the working vibration domain in this application refers to the abnormal oscillation range in the theoretical working process of the robotic arm under a fixed clearance coefficient.

[0142] In step 105, adjust the motor speed of the servo drive motor according to the clearance linear deviation and the working vibration domain.

[0143] In some embodiments, adjusting the motor speed of the servo drive motor according to the clearance linear deviation and the working vibration domain can be implemented by the following steps:

[0144] Obtain the motor power of the servo drive motor;

[0145] Obtain the motor speed of the servo drive motor at the current moment;

[0146] Obtain the clearance linear deviation;

[0147] Obtain the resonance frequency and anti-resonance frequency in the working vibration domain;

[0148] Determine the motor speed of the adjusted servo drive motor based on 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 adjusted servo drive motor can be determined according to the following formula:

[0149]

[0150] Wherein, is the motor speed of the adjusted servo drive motor, 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-resonant frequency in the working vibration domain, is the linear deviation of the gap, is the moment of inertia of the motor, is the pi.

[0151] It should be noted that in this application, by determining the abnormal oscillation range in the theoretical working process of the robotic arm, that is, the working vibration domain, the rotation speed of the servo drive motor of the robotic arm on the ground rail of the robot is adjusted through this working vibration domain and the linear deviation of the gap determined by the actual motor speed in this application. By adjusting the rotation speed of the servo drive motor, the influence caused by non-linear oscillation is reduced, so that the robotic arm can adapt to the non-linear characteristics that appear in the working process by itself.

[0152] In addition, on the other hand of this application, in some embodiments, this application provides a robot ground rail that is easy to control, which includes a motor speed adjustment unit. Refer to Figure 4 , this figure is a schematic diagram of the exemplary hardware and / or software of the motor speed adjustment unit according to some embodiments of this application. The motor speed adjustment unit 400 includes: an acquisition module 401, a processing module 402 and an execution module 403, which are described as follows:

[0153] The acquisition module 401. In this application, the acquisition module 401 is mainly used 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, and obtain a smooth speed sequence;

[0154] The processing module 402. In this application, the processing module 402 is mainly used to obtain the field control current of the servo drive motor and determine the moment of inertia of the servo drive motor according to the field control current;

[0155] It should be noted that in the present application, the processing module 402 is further configured to determine the driving torque sequence of the robotic arm according to the motor inertia and the rotational speed smoothing sequence, and further determine the clearance linear deviation amount when the robot is operating on the ground rail through the driving torque sequence;

[0156] In addition, in the present application, the processing module 402 is further configured to determine the working vibration range of the robotic arm joints of the robot ground rail according to the motor inertia of the servo drive motor;

[0157] The execution module 403, in the present application, the execution module 403 is mainly configured to adjust the motor speed of the servo drive motor according to the clearance linear deviation amount and the working vibration range.

[0158] In addition, the present application also provides a computer device, which includes a memory and a processor. The memory stores code, and the processor is configured to obtain the code and execute the above-mentioned control method for the robot ground rail that is easy to control.

[0159] In some embodiments, refer to Figure 5 , this figure is a schematic structural diagram of a computer device for implementing the control method of the robot ground rail that is easy to control according to some embodiments of the present application. The control method of the robot ground rail that is easy to control in the above embodiments can be implemented by Figure 5 the computer device shown. The computer device 500 includes at least one processor 501, a communication bus 502, a memory 503, and at least one communication interface 504.

[0160] The processor 501 can be a general-purpose central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more for controlling the execution of the control method of the robot ground rail that is easy to control in the present application.

[0161] The communication bus 502 may include a path for transmitting information between the above components.

[0162] The memory 503 can 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 can also be an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM), or other optical disc storage, optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disks, or other magnetic storage devices, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 503 can exist independently and be connected to the processor 501 through the communication bus 502. The memory 503 can also be integrated with the processor 501.

[0163] Among them, the memory 503 is used to store the program code for executing the solution of this application and is controlled by the processor 501 for execution. The processor 501 is used to execute the program code stored in the memory 503. The program code can include one or more software modules. The control method of the robot floor track that is convenient to control in the above embodiments can be implemented by one or more software modules in the program code in the processor 501 and the memory 503.

[0164] The communication interface 504 uses any device such as a transceiver to communicate with other devices or communication networks, such as Ethernet, radio access network (RAN), wireless local area networks (WLAN), etc.

[0165] In a specific implementation, as an embodiment, the computer device can include multiple processors, and each of these processors can be a single-core (single-CPU) processor or a multi-core (multi-CPU) processor. Here, the processor can refer to one or more devices, circuits, and / or processing cores for processing data (such as computer program instructions).

[0166] The computer device described above can be a general-purpose computer device or a special-purpose computer device. In specific implementations, the computer device can be a desktop computer, a laptop 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 embodiments of the present application do not limit the type of the computer device.

[0167] In addition, the present application also provides a computer-readable storage medium storing a computer program, which when executed by a processor implements the control method of the robot floor rail that is easy to control described above.

[0168] In summary, in the easy-to-control robot floor rail and its control method disclosed in the embodiments of the present application, first, by collecting the motor speed data at the joints of the robotic arm of the robot floor rail and removing outliers, a smoothed speed sequence is obtained; since there will be a certain amount of wear during the operation of the servo drive motor, the moment of inertia of the servo drive motor will change with the service time. In the present application, the field control current of the servo drive motor is collected, so as to determine the motor moment of inertia of the servo drive motor through the field control current of the servo drive motor and the smoothed speed sequence, and then determine the driving torque sequence of the robotic arm through the motor moment of inertia. The driving torque sequence refers to the magnitude of the torque of the rotational force generated to resist the load at each moment during the operation of the robotic arm of the robot floor rail; the clearance linear deviation amount is extracted through the frequency domain characteristics of the driving torque sequence. The clearance linear deviation amount refers to the degree of deviation of the robotic arm from the original linear control due to the clearance at the joints of the robotic arm, and the working vibration domain is determined through the motor moment of inertia. The working vibration domain refers to the abnormal oscillation range theoretically caused by the clearance at the joints during the operation of the robotic arm. The speed of the servo drive motor of the robotic arm on the robot floor rail is adjusted through the working vibration domain and the clearance linear deviation amount determined by the actual motor speed in the present application. By adjusting the speed of the servo drive motor, the amplitude of the non-linear oscillation is reduced, so that the robotic arm can return to the linear control again, thereby avoiding the influence of the non-linear characteristics caused by the clearance of the robotic arm joints on the operation of the robot floor rail.

[0169] Although the preferred embodiments of the present application have been described, those skilled in the art can make additional changes and modifications once they learn the basic creative concepts. Therefore, the appended claims are intended to be construed as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0170] Obviously, those skilled in the art can make various changes and modifications to this application without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalent technologies, this 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 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.

9. A computer device, characterized in that: The computer device includes a memory and a processor, wherein 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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