Control method of cricket ball system and method, device and equipment for determining position of small ball of cricket ball system

Abstract

The invention provides a cricket system control method, a cricket position determination method, a cricket position determination device and cricket position determination equipment. The small ball position determination method comprises the following steps: acquiring a stress signal output by the force sensor; determining the actual position of the small ball on the flat plate according to a position force model of the cricket ball system and the stress signal; the position force model represents the mapping relation between a stress signal of the flat plate and the position of the small ball borne on the flat plate, the position force model is obtained through a kinematic model and a rigid body dynamic model of the cricket-ball system, and the rigid body dynamic model represents the relation between movement of a connecting rod of the mechanical arm and resultant external force. The position of the small ball on the flat plate is determined based on the mapping relation determined through simulation in advance, interference of ambient light is avoided, and the reliability of obtaining the position of the small ball can be improved. And the position of the small ball is determined based on the mapping relation, so that the calculation amount is small and the efficiency is high compared with a vision-based mode.

Description

Technical Field

[0001] The present disclosure relates to the technical field of cricket control, and particularly to a control method for a cricket system, a method for determining the position of a small ball, a device, and a device. Background Art

[0002] As a two-degree-of-freedom underactuated system, the cricket system can be used to verify the stability of control algorithms and the control performance of the robotic arm itself. Currently, common cricket systems mostly adopt the method of directly driving the flat plate. The position of the small ball on the flat plate is collected by a vision sensor, and then the rotation angle required for the flat plate is calculated based on the position feedback of the small ball, so as to realize the specified trajectory control of the small ball on the flat plate. Accurately determining the position of the small ball is a prerequisite for realizing the trajectory control of the small ball. At present, the accuracy and efficiency of the method for determining the position of the small ball need to be improved. Summary of the Invention

[0003] The technical problem to be solved by the present disclosure is to overcome the above-mentioned defects in the prior art, and provide a control method for a cricket system, a method for determining the position of a small ball, a device, and a device.

[0004] The present disclosure solves the above technical problems through the following technical solutions:

[0005] In a first aspect, a method for determining the position of a small ball in a cricket system is provided. The cricket system includes a robotic arm, a flat plate and a force sensor installed at the end of the robotic arm; the method for determining the position of the small ball includes:

[0006] Obtain the force signal output by the force sensor;

[0007] According to the position-force model of the cricket system and the force signal, determine the actual position of the small ball on the flat plate; the position-force model represents the mapping relationship between the force signal of the flat plate and the position of the small ball carried on the flat plate, and the position-force model is obtained through the kinematic model and the rigid body dynamics model of the cricket system. The rigid body dynamics model represents the relationship between the motion of the link of the robotic arm and the resultant external force.

[0008] Optionally, the position-force model is constructed through the following steps:

[0009] According to the kinematic model, the rigid body dynamics model, and the force signal output by the force sensor during the movement of the small ball on the flat plate, determine the conversion relationship between the force signal and the force screw of the flat plate;

[0010] Determine the position-force model according to the conversion relationship.

[0011] Optionally, according to the kinematic model, the rigid body dynamics model, and the force signal output by the force sensor during the movement of the small ball on the flat plate, determining the conversion relationship between the force signal and the force screw of the flat plate includes:

[0012] Establishing a Newton-Euler recurrence equation to obtain the corresponding relationship between the force screw and the motion screw of the flat plate;

[0013] According to the kinematic model, determining the coordinate transformation between the flat plate coordinate system and the force sensor coordinate system;

[0014] According to the corresponding relationship and the coordinate transformation, determining the conversion relationship between the force signal and the force screw of the flat plate.

[0015] In a second aspect, a control method for a cricket system is provided, including:

[0016] Determining the actual position of the small ball on the flat plate; the actual position is determined according to the small ball position determination method described in any item of the first aspect;

[0017] According to the kinematic model and the dynamic model of the cricket system, determining the state space equation of the cricket system;

[0018] According to the state space equation and the actual position, generating a control instruction for driving the movement of the robotic arm to achieve trajectory control of the small ball on the flat plate.

[0019] Optionally, according to the state space equation and the actual position, generating a control instruction for driving the movement of the robotic arm includes:

[0020] According to the expected position of the small ball, the actual position, and the state space equation, and based on the feedback linear control algorithm, generating the first joint angle of the flat plate;

[0021] According to the expected position of the small ball, the actual position, and the state space equation, and based on the PID control algorithm, generating the second joint angle of the flat plate;

[0022] Generating the control instruction according to the first joint angle and the second joint angle.

[0023] In a third aspect, a small ball position determination device for a cricket system is provided. The cricket system includes a robotic arm, a flat plate and a force sensor installed at the end of the robotic arm; the small ball position determination method includes:

[0024] An acquisition module for acquiring the force signal output by the force sensor;

[0025] A first determination module, configured to determine the actual position of the small ball on the flat plate according to the position-force model of the cricket system and the force-receiving signal; the position-force model represents the mapping relationship between the force-receiving signal of the flat plate and the position of the small ball carried on the flat plate, and the position-force model is obtained through the kinematic model and the rigid body dynamics model of the cricket system, and the rigid body dynamics model represents the relationship between the movement of the connecting rod of the robotic arm and the resultant external force.

[0026] Fourthly, a control device for a cricket system is provided, including:

[0027] A second determination module, configured to determine the actual position of the small ball on the flat plate; the actual position is determined according to the small ball position determination method described in any item of the first aspect;

[0028] A third determination module, configured to determine the state space equation of the cricket system according to the kinematic model and the dynamic model of the cricket system;

[0029] A driving module, configured to generate a control instruction for driving the movement of the robotic arm according to the state space equation and the actual position, so as to realize the trajectory control of the small ball on the flat plate.

[0030] Fifthly, an electronic device includes a memory, a processor, and a computer program stored on the memory and configured to run on the processor, and when the processor executes the computer program, the method described in any of the above items is implemented.

[0031] Sixthly, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the method described in any of the above items is implemented.

[0032] Seventhly, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the method described in any of the above items is implemented.

[0033] On the basis of conforming to the common knowledge in the art, the above preferred conditions can be combined arbitrarily to obtain various preferred examples of the present disclosure.

[0034] The positive and progressive effects of the present disclosure are as follows: The present disclosure determines the position of the small ball on the flat plate based on the mapping relationship between the force-receiving signal of the flat plate and the position of the small ball carried on the flat plate determined in advance through simulation, and is not affected by environmental light interference, which can improve the reliability of obtaining the position of the small ball. And determining the position of the small ball based on this mapping relationship has less computational complexity and higher efficiency compared with the visual method. Description of the Drawings

[0035] Figure 1aFlowchart of a method for determining the position of a small ball in a cricket system provided by an exemplary embodiment of the present disclosure;

[0036] Figure 1b Schematic diagram of the application scenario of the DH model adopted by a method for determining the position of a small ball in a cricket system provided by an exemplary embodiment of the present disclosure;

[0037] Figure 2 Flowchart of a control method for a cricket system provided by an exemplary embodiment of the present disclosure;

[0038] Figure 3 Control framework diagram of a control method for a cricket system provided by an exemplary embodiment of the present disclosure;

[0039] Figure 4 Control framework diagram of another control method for a cricket system provided by an exemplary embodiment of the present disclosure;

[0040] Figure 5 Schematic diagram of the structure of an electrical device provided by an exemplary embodiment of the present disclosure. Detailed implementation manners

[0041] The present disclosure will be further described below by way of embodiments, but the present disclosure is not limited to the scope of the described embodiments.

[0042] In the embodiments of the present disclosure, prefix words such as "first" and "second" are only used to distinguish different described objects, and have no limiting effect on the position, order, priority, quantity or content of the described objects, etc. The use of ordinal numbers and other prefix words for distinguishing described objects in the embodiments of the present disclosure does not constitute a limitation on the described objects. The description of the described objects refers to the description in the context of the embodiments, and should not constitute an unnecessary limitation due to the use of such prefix words. In addition, in the description of this embodiment, unless otherwise specified, the meaning of "a plurality" is two or more.

[0043] Figure 1a Flowchart of a method for determining the position of a small ball in a cricket system provided by an exemplary embodiment of the present disclosure. The method for determining the position of the small ball includes the following steps:

[0044] Step 101: Obtain the force signal output by the force sensor.

[0045] The force sensor is used to detect the force signal of the flat plate, and the force signal includes the force and moment applied by the small ball to the flat plate. The force sensor can be installed, but is not limited to, at the end of the robotic arm or the bottom of the flat plate.

[0046] Step 102: Determine the actual position of the small ball on the flat plate according to the position-force model of the cricket system and the force signal.

[0047] Among them, the position force model characterizes the mapping relationship between the force signal of the flat plate and the position of the small ball carried on the flat plate. The position force model is obtained through the kinematic model and the rigid body dynamics model of the cricket system. The rigid body dynamics model characterizes the relationship between the motion of the connecting rod of the robotic arm and the resultant external force.

[0048] The following introduces an implementation method for constructing the position force model.

[0049] The robotic arm includes multiple connecting rods. For the connecting rod i, the relationship between its motion and the resultant external force is established, and it is described in the screw as:

[0050]

[0051] Among them, F i is the force screw received by the connecting rod i; G i represents the spatial inertia matrix of the connecting rod i; V i represents the motion screw of the connecting rod i; represents the acceleration of the connecting rod i; F i+1 is the force screw received by the connecting rod i + 1; is the Lie bracket of the motion screw Vi; is the coordinate system T i and T i+1 is the adjoint matrix of the transformation matrix between them.

[0052] The left side of the above equation represents the multiplication of the rigid body acceleration screw, the motion screw, and the spatial inertia matrix, which together reflect the resultant external force received by the rigid body of the connecting rod i. Therefore, for the reverse iterative operation in Newton-Euler dynamics, the force screw of the joint connecting rod i can be expressed as:

[0053]

[0054] The forward calculation of the motion screw involved is characterized as:

[0055]

[0056] Among them, V i-1 is the velocity of the connecting rod i - 1; is the acceleration of the connecting rod i - 1; A i represents the joint screw axis vector of the connecting rod i; is expressed as the angular velocity; is expressed as the angular acceleration; is the Lie bracket of the motion screw Vi; is the coordinate system T i-1 and T i is the adjoint matrix of the transformation matrix between them.

[0057] To solve the force screw exerted by the small ball on the flat plate during the movement in the cricket system, according to the established kinematic model, the Newton-Euler recurrence equation is established. The Newton-Euler recurrence equation is used to calculate the forces and torques of each joint of the robot. To establish the Newton-Euler recurrence equation, it is necessary to first define the kinematic model of the cricket system.

[0058] In one embodiment, the kinematic model of the cricket system adopts the DH model.

[0059] When modeling the robotic arm of the cricket system as a four-degree-of-freedom system, refer to Figure 1b , which has a total of two rotational joints and two translational joints. The latter two translational joints are the virtual underactuated joints for the movement of the small ball 21 on the flat plate 22. The first two establish the rotation of the flat plate around its central origin, and the latter two establish the non-slip rolling model of the small ball on the flat plate.

[0060] The corresponding DH parameter table established for the cricket system is as follows:

[0061]

[0062] Among them, a i (mm) represents the distance along the x i axis, from z i to z +1 ; α i (rad) represents the angle of rotation around the x i axis, from z i to z +1 ; d i (mm) represents the distance along the z i axis, from x i-1 to x i ; θ i (rad) represents the angle of rotation along the z i axis, from x i-1 to x i .

[0063] According to the above parameter table, referring to the DH method of the robot, the entire cricket system is modeled as an underactuated robot with four degrees of freedom, including two rotational degrees of freedom of the flat plate and two translational degrees of freedom of the small ball on the two-dimensional plate plane, and the corresponding homogeneous transformation matrix can be obtained:

[0064]

[0065] Among them, T 01 represents the homogeneous transformation matrix of the two joints at both ends of link 1; T 12 represents the homogeneous transformation matrix of the two joints at both ends of link 2; T 23 represents the homogeneous transformation matrix of the two joints at both ends of link 3; T34 The homogeneous transformation matrix representing the two joints at both ends of the connecting rod 4.

[0066] In the above formula, the abbreviated symbols of the corresponding trigonometric functions are represented as c1 = cosθ1, c2 = cosθ2, s1 = sinθ1, s2 = sinθ2. Therefore, the forward kinematic expression of the coordinate system of the small ball relative to the base coordinate system at the center of the flat plate is:

[0067]

[0068] Based on the forward kinematics established above, the vector of the small ball relative to the origin of the coordinate at the center of the flat plate can be obtained as:

[0069]

[0070] According to the kinematic model of the cricket system, that is, variables such as the connecting rod velocity and the connecting rod acceleration, Newton-Euler recurrence equations are established to characterize the corresponding relationship between the force screw and the motion screw of the flat plate system, which is expressed as follows:

[0071]

[0072] Among them, b1 is the coordinate system of joint 3; G b1 Represents the spatial inertia matrix of the connecting rod in the coordinate system of joint 3; Is the acceleration of the connecting rod in the coordinate system of joint 3; F b1 Is the force screw received by the connecting rod in the coordinate system of joint 3; G b2 Represents the spatial inertia matrix of the connecting rod in the coordinate system of joint 4; Is the acceleration of the connecting rod in the coordinate system of joint 4; F b2 Is the force screw received by the connecting rod in the coordinate system of joint 4; Is the Lie bracket of the motion screw V b1 ; Is the Lie bracket of the motion screw V b2 ; Is the adjoint matrix of the transformation matrix between the coordinate systems T b1 And T b2 ; The related quantity is Figure 1b The rigid body inertia matrix of the virtual translation joint in the direction of the displacement d3; b2 is the coordinate system of joint 4, and the related quantity is Figure 1b The rigid body inertia matrix of the virtual translation joint in the direction of the displacement d4. Joint 3 and joint 4 refer to the two translational degrees of freedom of the small ball in the four-degree-of-freedom cricket system.

[0073] One-step extrapolation of the force screw received by the flat plate can obtain:

[0074]

[0075] Among them, b0 is the coordinate system of the flat plate, and the relevant quantity is the rigid body inertia matrix of rigid bodies such as the flat plate and the adapter installed on the end sensor.

[0076] In one embodiment, the force sensor uses an ATI sensor. Furthermore, through coordinate transformation, we can obtain which is the force screw sensed by the force sensor 23 installed at the end of the robotic arm. b is the self-coordinate system of the force sensor (six-dimensional force coordinate system).

[0077] So far, using the above formula, the signal measured by the ATI force sensor can be obtained through forward and inverse calculations to deduce the mapping relationship between the six-dimensional force and the position of the small ball. The inverse dynamics calculation formula is as above, from F b2 From this, F can be solved ATI ; The forward kinematic calculation follows the previous kinematic screw iteration formula.

[0078] The specific quantities involved in the derivation process are represented as follows:

[0079] 1) Spatial inertia matrix.

[0080]

[0081] Among them, the above are the inertia tensor and the inertia matrix. Specifically, G b0 is the inertia matrix of the rigid body connected to the ATI sensor relative to the coordinate system b0, and G b2 is the inertia matrix of the small ball relative to the coordinate system b2, and the coordinate system b2 is located at the contact point between the small ball and the flat plate. Therefore, the center-of-mass position of the small ball has an offset in the vertical axis (defined as the x-axis in this embodiment of the present disclosure).

[0082] 2) Joint screw axis.

[0083] Since it is a virtual moving joint, there is

[0084]

[0085] 3) Coordinate system transformation matrix.

[0086] According to the coordinate system definition, the matrices that can be obtained are

[0087]

[0088] 4) Kinematic screw.

[0089] The velocity screw and the acceleration screw are calculated in the iteration. The initial screw selection is the kinematic screw at the end of the robotic arm. The two are equivalent. Only for the convenience of analysis, the robotic arm part is omitted, and the moving coordinate system b at the end of the robotic arm is regarded as the world coordinate system in the plate-ball system.

[0090] Furthermore, the mapping relationship between the force sensor and the position of the small ball can be deduced based on the established POE cricket dynamics model. If only the different postures of the end of the robotic arm that cause the flat plate to flip are considered, at this time, the direction of the gravity of the small ball is inclined relative to the flat plate surface. First, calculate the forward dynamics. When it is horizontally fixed, the initial motion screw is selected as:

[0091] V b0 = 0

[0092]

[0093] where the gravitational acceleration is denoted as g. Since the joint has no motion speed, Therefore, the last two groups of motion screws can be obtained as:

[0094]

[0095] In the following derivations, the gravitational acceleration involved is only represented as a simplified vector, and its specific definition is the same as the content of the motion screw derived above. Further calculate the inverse dynamics:

[0096]

[0097] has no influence on F ATI . Therefore, the force signal output by the force sensor is:

[0098]

[0099] In summary, the mapping relationship can be specifically characterized as:

[0100] F z = (m b0 + m b2 )g;

[0101] M x = m b2 gq b2 ;

[0102] M y = -m b2 gq b1 ;

[0103]

[0104] where m b0 represents the mass of the flat plate, m b2 represents the mass of the small ball. q b2 represents the rotation angle of joint 4, and q b2 represents the rotation angle of joint 3. F zDenote the force exerted by the small ball on the flat plate in the z-axis direction as output by the force sensor, M x Denote the torque in the x-axis direction as output by the force sensor, M y Denote the torque in the y-axis direction as output by the force sensor.

[0105] If following the signs of the forces on the flat plate above, the actual position of the small ball on the flat plate can be directly expressed as:

[0106]

[0107] According to the above formula, simulating the cricket system can obtain the position-force model of the cricket system.

[0108] In other implementation manners, the position-force model can also be obtained based on neural networks, data fitting, and combined with the kinematic model and the rigid body dynamics model. The specific implementation manners are not elaborated here.

[0109] The embodiments of the present disclosure also provide a control method for a cricket system. Refer to Figures 2-4 , and this control method includes the following steps:

[0110] Step 201, determine the actual position of the small ball on the flat plate.

[0111] Among them, the actual position of the small ball is determined according to the small ball position determination method provided in any of the above embodiments.

[0112] Step 202, determine the state space equation of the cricket system according to the kinematic model and the dynamic model of the cricket system.

[0113] Step 203, generate a control instruction for driving the robotic arm to move according to the state space equation and the actual position of the small ball on the flat plate, so as to realize the trajectory control of the small ball on the flat plate.

[0114] In one embodiment, step 203 includes:

[0115] Step 203-1, generate the first joint angle of the flat plate based on the expected position, actual position of the small ball, and the state space equation, and based on the feedback linear control algorithm.

[0116] Step 203-2, generate the second joint angle of the flat plate based on the expected position, actual position of the small ball, and the state space equation, and based on the PID control algorithm.

[0117] Step 203-3, generate a control instruction according to the first joint angle and the second joint angle.

[0118] In one embodiment, generate a control instruction according to the weighted result of the first joint angle and the second joint angle.

[0119] In one embodiment, the manipulator motion data is determined according to the first joint angle and the second joint angle respectively, and a control instruction is generated according to the weighted result of the manipulator motion data corresponding to the two joints.

[0120] In one embodiment, the state variables of the cricket system are defined as:

[0121]

[0122] where q = [θ1 θ2 d3 d4] T is a four-dimensional state variable, denotes the derivative of the four-dimensional state quantity, where θ1, θ2, d3, d4 represent four motion parameters of the cricket system model, namely the pitch and roll of the flat plate and the two-dimensional motion of the small ball on the plane (refer to the aforementioned DH modeling). At this time, the state space equation of the cricket system can be written as:

[0123]

[0124] Since the cricket system only has inputs for the two rotation angles of the flat plate, its input quantity u = [τ1 τ2] T is the rotational torque corresponding to the degrees of freedom. At this time, the dimension of the system should be reduced, and the output quantity of the system is defined in a mixed form:

[0125]

[0126] Due to the action of gravity, referring to Figure 1b , when the flat plate rotates around the z1 axis by θ2, the displacement d3 of the small ball along the z2 axis can be increased. Similarly, when rotating around the z0 axis by the angle θ1, the displacement d4 of the small ball along the z3 axis can be increased. Therefore, the output is defined in a mixed form here to simultaneously reflect the state variables of the system. According to the definition of the second-order output, the Jacobian matrix of the system can be defined as:

[0127]

[0128] On this basis, based on the dynamics equation and the Jacobian matrix of the cricket system, the equation can be multiplied by the Jacobian matrix simultaneously to obtain:

[0129]

[0130] In the above formula, B is the first two columns of the W matrix. Let D = JB. At this time, according to the definition of feedback linearization, the input of the system can be written as:

[0131]

[0132] where τ gRepresents the gravitational moment of the cricket system. The following introduces a way to determine the gravitational moment τ according to the dynamic model of the cricket system. g One implementation.

[0133] The dynamic equation for constructing the control law is:

[0134]

[0135] In the above formula, is the inertia matrix of the cricket system; q is the rotation angle of the cricket system; is the partial derivative of the inertia matrix, used to construct the Coriolis matrix; is the gravitational vector of the cricket system, is the joint force / moment of the cricket system in a given state.

[0136] The kinetic energy of the flat plate can be expressed as:

[0137]

[0138] In the above formula, Iy and Iz are the moments of inertia of the flat plate with respect to the y-axis and z-axis respectively.

[0139] Furthermore, the kinetic energy of the small ball's motion can be expressed as:

[0140]

[0141] In the above formula, m2 is the mass of the small ball, r is the rolling radius of the small ball, and I2 is the moment of inertia of the small ball in any direction. Among them, the expression of the small ball's velocity can be written as through differentiation:

[0142]

[0143] According to the definition of the inertia matrix, the total kinetic energy of the system satisfies:

[0144]

[0145] Therefore, by substituting the corresponding variables and eliminating, the final inertia matrix of the cricket system can be obtained as:

[0146]

[0147] Furthermore, the differential matrix for constructing the Coriolis matrix can be calculated as:

[0148]

[0149] To solve the virtual gravitational moment generated by the system under the action of only gravity, first, it is necessary to calculate the gravitational potential energy P of the system in a certain state, which satisfies:

[0150] P = m2gh

[0151] Among them, the height term related to the position of the small ball is calculated through the position vector of the small ball, and the height h satisfies:

[0152] h = p 04 (2) = -d3s1s2 - d4c1;

[0153] Among them, p 04 (2) represents the y component in the vector of the small ball relative to the origin of the center coordinates of the flat plate.

[0154] Similarly, by taking the partial derivative of the gravitational potential energy, the gravitational moment (gravitational vector) of the cricket system can be obtained as:

[0155]

[0156] Through the above derivation, the dynamic model of the cricket system is completely established. Based on this model, the control law of the cricket system can be derived to achieve the trajectory tracking control of the position of the small ball.

[0157] In one embodiment, v is implemented using PID control, and its expression is:

[0158]

[0159] Among them, y d represents the desired position of the small ball; represents the desired velocity of the small ball; represents the desired acceleration of the small ball.

[0160] So far, if the desired trajectory of the small ball is a periodic circular trajectory, the tracking of the small ball to the fixed-point circle can be achieved:

[0161]

[0162] In the above formula, a is the scaling coefficient for adjusting the position of the small ball to the input rotation angle of the flat plate (that is, the two rotation angles u of the flat plate), K p1 、K p2 are the position proportional term coefficients of the small ball, K v1 、K v2 are the differential term coefficients according to the feedback velocity of the small ball. The corresponding x and y are the feedback positions of the small ball, x d 、y d are the desired positions (desired trajectories) of the small ball.

[0163] Corresponding to the method for determining the position of the small ball in the cricket system and the embodiments of the control method of the cricket system described above, the present disclosure also provides embodiments of a device for determining the position of the small ball in the system and a control device for the cricket system.

[0164] An embodiment of the present disclosure provides a device for determining the position of a small ball in a cricket system. The cricket system includes a robotic arm, a flat plate and a force sensor mounted at the end of the robotic arm. The method for determining the position of the small ball includes:

[0165] An acquisition module for acquiring the force signal output by the force sensor;

[0166] A first determination module for determining the actual position of the small ball on the flat plate according to the position-force model of the cricket system and the force signal. The position-force model represents the mapping relationship between the force signal of the flat plate and the position of the small ball carried on the flat plate. The position-force model is obtained through the kinematic model and the rigid body dynamics model of the cricket system. The rigid body dynamics model represents the relationship between the motion of the connecting rod of the robotic arm and the resultant external force.

[0167] Optionally, the position-force model is constructed through the following steps:

[0168] According to the kinematic model, the rigid body dynamics model, and the force signal output by the force sensor during the movement of the small ball on the flat plate, determine the conversion relationship between the force signal output by the force sensor and the force screw of the flat plate;

[0169] Determine the position-force model according to the conversion relationship.

[0170] Optionally, determining the conversion relationship between the force signal and the force screw of the flat plate according to the kinematic model, the rigid body dynamics model, and the force signal output by the force sensor during the movement of the small ball on the flat plate includes:

[0171] According to the kinematic model, establish the Newton-Euler recurrence equation to obtain the corresponding relationship between the force screw and the motion screw of the flat plate system;

[0172] Determine the coordinate transformations of the joint coordinate system, the flat plate coordinate system, and the force sensor coordinate system of each connecting rod;

[0173] According to the corresponding relationship and the coordinate transformations, determine the conversion relationship between the force signal and the force screw of the flat plate.

[0174] An embodiment of the present disclosure provides a control device for a cricket system, including:

[0175] A second determination module for determining the actual position of the small ball on the flat plate. The actual position is determined according to the method for determining the position of the small ball provided in any of the above embodiments;

[0176] A third determination module for determining the state space equation of the cricket system according to the kinematic model and the dynamic model of the cricket system;

[0177] A driving module, configured to generate a control instruction for driving the movement of the robotic arm according to the state space equation and the actual position, so as to achieve the trajectory control of the small ball on the flat plate.

[0178] Optionally, the third determination module is specifically configured to:

[0179] Generate a first joint angle of the flat plate according to the expected position of the small ball, the actual position and the state space equation, and based on a feedback linear control algorithm;

[0180] Generate a second joint angle of the flat plate according to the expected position of the small ball, the actual position and the state space equation, and based on a PID control algorithm;

[0181] Generate the control instruction according to the first joint angle and the second joint angle.

[0182] For the device embodiment, since it basically corresponds to the method embodiment, the relevant parts can refer to the partial description of the method embodiment. The device embodiments described above are only illustrative, where the units described as separate components may or may not be physically separated, and the components as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of the present disclosure.

[0183] Figure 5 A schematic structural diagram of an electronic device shown in an exemplary embodiment of the present disclosure. The electronic device includes a memory, a processor, and a computer program stored on the memory and configured to run on the processor. When the processor executes the computer program, it implements the XX method described in any of the above embodiments. Figure 5 The electronic device 50 shown is only an example, and should not impose any limitation on the functions and usage scope of the embodiments of the present disclosure.

[0184] As Figure 5 shown, the electronic device 50 can be presented in the form of a general computing device, for example, it can be a server device. The components of the electronic device 50 may include, but are not limited to: at least one of the above-mentioned processors 51, at least one of the above-mentioned memories 52, and a bus 53 connecting different system components (including the memory 52 and the processor 51).

[0185] The bus 53 includes a data bus, an address bus, and a control bus.

[0186] The memory 52 may include volatile memory, such as random access memory (RAM) 521 and / or cache memory 522, and may further include read-only memory (ROM) 523.

[0187] The memory 52 may also include program utilities 525 (or utilities) having a set (at least one) of program modules 524. Such program modules 524 include, but are not limited to: an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include the implementation of a network environment.

[0188] The processor 51 executes various functional applications and data processing by running computer programs stored in the memory 52, such as the XX method provided in any of the above embodiments.

[0189] The electronic device 50 may also communicate with one or more external devices 54 (such as a keyboard, pointing device, etc.). Such communication may be carried out through the input / output (I / O) interface 55. In addition, the electronic device 50 may also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through the network adapter 56. As shown in the figure, the network adapter 56 communicates with other modules of the electronic device 50 through the bus 53. It should be understood that although not shown in the figure, other hardware and / or software modules may be used in combination with the electronic device 50, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (disk array) systems, tape drives, and data backup storage systems, etc.

[0190] It should be noted that although several units / modules or sub-units / modules of the electronic device are mentioned in the above detailed description, this division is merely exemplary and not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more of the above-described units / modules may be embodied in one unit / module. Conversely, the features and functions of one unit / module described above may be further divided and embodied by multiple units / modules.

[0191] The embodiments of the present disclosure also provide a computer-readable storage medium, on which a computer program is stored, and the method provided in any of the above embodiments is implemented when the program is executed by a processor.

[0192] Among them, the more specific forms that the readable storage medium may adopt may include, but are not limited to: portable disks, hard disks, random access memories, read-only memories, erasable programmable read-only memories, optical storage devices, magnetic storage devices, or any suitable combination of the above.

[0193] Embodiments of the present disclosure also provide a computer program product, including a computer program, which when executed by a processor implements the method described in any one of the above.

[0194] Among them, the program code for executing the computer program product of the present disclosure can be written in any combination of one or more programming languages. The program code can be executed entirely on the user device, partially on the user device, executed as an independent software package, partially on the user device and partially on a remote device, or entirely on a remote device.

[0195] Although the specific embodiments of the present disclosure have been described above, those skilled in the art should understand that this is only an example. The protection scope of the present disclosure is defined by the appended claims. Without departing from the principles and essence of the present disclosure, those skilled in the art can make various changes or modifications to these embodiments, but these changes and modifications all fall within the protection scope of the present disclosure.

Claims

1. A method for determining the position of a small ball in a cricket system, characterized in that, The described cricket system includes a robotic arm, as well as a flat plate and a force sensor installed at the end of the robotic arm; the method for determining the position of the small ball includes: Obtain the force signal output by the force sensor; According to the position-force model of the cricket system and the force signal, determine the actual position of the small ball on the flat plate; the position-force model characterizes the mapping relationship between the force signal of the flat plate and the position of the small ball carried on the flat plate, and the position-force model is obtained through the kinematic model and the rigid body dynamics model of the cricket system, and the rigid body dynamics model characterizes the relationship between the motion of the connecting rod of the robotic arm and the resultant external force.

2. The method for determining the position of the small ball in the cricket system according to claim 1, characterized in that The position-force model is constructed through the following steps: According to the kinematic model, the rigid body dynamics model, and the force signal output by the force sensor during the movement of the small ball on the flat plate, determine the conversion relationship between the force signal output by the force sensor and the force screw of the flat plate; Determine the position-force model according to the conversion relationship.

3. The method for determining the position of the small ball in the cricket system according to claim 2, wherein According to the kinematic model, the rigid body dynamics model, and the force signal output by the force sensor during the movement of the small ball on the flat plate, determining the conversion relationship between the force signal and the force screw of the flat plate includes: According to the kinematic model, establish the Newton-Euler recurrence equation to obtain the corresponding relationship between the force screw and the motion screw of the flat plate system; Determine the coordinate transformations of the joint coordinate system, the flat plate coordinate system, and the force sensor coordinate system of each connecting rod; According to the corresponding relationship and the coordinate transformation, determine the conversion relationship between the force signal and the force screw of the flat plate.

4. A control method for a cricket system, characterized in that, Includes: Determine the actual position of the small ball on the flat plate; The actual position is determined according to the method for determining the position of the small ball described in any one of claims 1-3; Determine the state space equation of the cricket system according to the kinematic model and the dynamic model of the cricket system; According to the state space equation and the actual position, generate a control command for driving the movement of the robotic arm to achieve the trajectory control of the small ball on the flat plate.

5. The control method of the cricket system according to claim 4, characterized in that, According to the state space equation and the actual position, generating a control command for driving the movement of the robotic arm includes: Based on the expected position of the small ball, the actual position, and the state space equation, and based on the feedback linear control algorithm, generate the first joint angle of the flat plate; Based on the expected position of the small ball, the actual position, and the state space equation, and based on the PID control algorithm, generate the second joint angle of the flat plate; Generate the control command according to the first joint angle and the second joint angle.

6. A small ball position determination device for a cricket system, characterized in that, The described cricket system includes a robotic arm, as well as a flat plate and a force sensor installed at the end of the robotic arm; the method for determining the position of the small ball includes: An acquisition module for acquiring the force signal output by the force sensor; A first determination module, configured to determine the actual position of the small ball on the flat plate according to the position-force model of the cricket system and the force-receiving signal; the position-force model characterizes the mapping relationship between the force-receiving signal of the flat plate and the position of the small ball carried on the flat plate, and the position-force model is obtained through the kinematic model and the rigid-body dynamics model of the cricket system, and the rigid-body dynamics model characterizes the relationship between the movement of the connecting rod of the robotic arm and the resultant external force.

7. A control device for a cricket system, characterized in that, Comprising: A second determination module, configured to determine the actual position of the small ball on the flat plate; The actual position is determined according to the small-ball position determination method described in any one of claims 1-3; A third determination module, configured to determine the state-space equation of the cricket system according to the kinematic model and the dynamics model of the cricket system; A driving module, configured to generate a control instruction for driving the movement of the robotic arm according to the state-space equation and the actual position, so as to implement the trajectory control of the small ball on the flat plate.

8. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and adapted to run on the processor, characterized in that, When the processor executes the computer program, the method described in any one of claims 1-5 is implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the method described in any one of claims 1-5 is implemented.

10. A computer program product comprising a computer program, characterized in that, When the computer program is executed by the processor, the method described in any one of claims 1-5 is implemented.

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