机器人学基础_第5章_机器人控制

1、机器人学基础机器人学基础 Fundamentals of Robotics智能科学基础系列课程国家级教学团队智能科学基础系列课程国家级教学团队“机器人学机器人学”课程课程主讲：蔡自兴主讲：蔡自兴 谢斌谢斌中南大学中南大学2010Fundamentals of Robotics1RobotHuboMade in ChinaTrained in USA2Fundamentals of RoboticsHUBO RobotHero，Im Hubo. I am a very unique robot.The more we play the more I can do!I can play games

2、, dance and even sing to you!Lets be good friends!3Fundamentals of Robotics中南大学中南大学蔡自兴，谢蔡自兴，谢 斌斌zxcai, 2010机器人学基础机器人学基础第五章第五章 机器人控制机器人控制4Ch.5 Robot ControlFundamentals of RoboticsFundamentals of RoboticsChapter 5 Robot Control第五章第五章 机器人控制机器人控制5.1 Basic Principles of Robot Control5.2 Position Control

3、 of Robots5.3 Hybrid Control of Force/Position of Robots 5.4 Intelligent Control of Robots5.5 SummaryExamplesRobot HuBoPUMA 560Watch a video of BigDogPUMA 560 Precise Universal Machine for Assembly An industrial robotRobot HuBoA mobile robotDesigned in USAMade in ChinaCan play games, dance and singW

4、atch vedio BigDogMade by Boston Dynamics Co. US.A military robot which has amazing mobility and adaptability.It can climb up 35 slopes, carry more than 40 kg equipment.Impression: Kinem. + Dynam. + ?10Chapter 5 Robot Control5.1 Basic Principles of Robot Control 机器人的基本控制原则机器人的基本控制原则 The issue of robo

5、t control is closely related to robotic kinematics and dynamics. (how learn?). From the point view of control, The robotic system is a representative redundant, multi-variable and nonlinear control system in nature, and a complex coupling dynamic system. Every control task it self is a dynamical tas

6、k. 机器人学基础115.1 Basic Principles of Robot ControlClassification of Controllers non-servo controlservo controlposition/speed feedback controlforce (torque) controlHybrid F-P controlsensor-based controlnonlinear control5.1.1 Basic Control Principles 5.1 Basic Principles of Robot Controladaptive control

7、hierarchical controloptimal controlfuzzy control neurocontrol other intelligent controls 125.1.1 Basic Control Principles Industrial robot controller can be divided into single-joint (link) controller and multi-joint (link) controller. Robot control depends on its head, that the development of the p

8、rocessor. Various control methods can be used according to the actual working conditions.5.1 表机器人控制的分类及其分析方法5.1 Basic Principles of Robot Control5.1.1 Basic Control Principles13主要控制变量（Control Variables） Control variables of joints of a manipulator5.1 图机器手各关节控制变量5.1 机器人的基本控制原则14控制层次 Control Levels Le

9、vel 1： Level of AILevel 2 ： Level of control model Level 3 ： Level of servo system5.2 图机器手主要控制层次5.1.1 Basic Control Principles5.1 机器人的基本控制原则5.1.1 Basic Control Principles Robot control is the control of bidirectional equation: 末端执行装置的状态是由任务轴的许多参数表示的，它是机器人运动模型矢量X的分量。要控制矢量X 随时间变化的情况，即 ，它表示末端执行装置在空间的实时

10、位置。只有当关节移动时，X 才变化。用矢量 表示关节变量与受控量关系关节变量，即 至 。 各关节具有运动学模型C1至C6，这些模型构成关节矢量 ，并由各传动电动机的力矩矢量 经过变速机送到各个关节。在电流或电压矢量 提供的动力作用和微处理机的控制下，这些电动机产生力矩 。 )()()()()(tXttCtTtV )(tX( ) t 1)(tC)(tT)(tV)(tT616控制层次 Control Levels 1st Grade: Artificial Intelligence level2nd Grade: Control model level3rd Grade: Servo system

11、-level5.2 图机器手主要控制层次5.1.1 Basic Control Principles5.1 Basic Principles of Robot Control5.1.2 Examples of Servo-control System 伺服控制系统举例伺服控制系统举例Servo driven system of hydraulic cylinder175.1 机器人的基本控制原则5.3 图液压缸伺服传动系统结构图Electro-hydraulic servo control system185.1.2 Examples of Servo-control System5.4 -图

12、电 液压伺服控制系统5.1 机器人的基本控制原则19Manipulator consists of a series of links, whose dynamic characteristics are highly non-linear. We need to build up the mathematical model to control the motor-driven manipulator.Two assumptions in the designing of model:The manipulator is an ideal rigid body without fricti

13、on and gap.Only one degree of freedom for each link, either translation or rotation. 5.2 Position Control of Robot 机器人的位置控制机器人的位置控制5.2 Position Control of Robot205.2.1 Modeling of D.C Control System 直流传动系统的建模直流传动系统的建模nTransfer function and equivalent diagram 5.2 机器人的位置控制5.5图 直流电动机伺服传动原理根据电力传动原理可求得下列

14、传递函数：根据电力传动原理可求得下列传递函数：电动机的开环传递函数，见式5.16电枢控制直流电动机的传递函数(1)，见式5.23 )()()(2KFSJSSlrkSVSffmfm)()()(memmmmmkkJSFSLRSkSVS22Speed regulation of DC motor5.2 机器人的位置控制5.8图 具有测速反馈的直流电动机控制原理图5.2.1 Modeling of DC Control System(a) 控制原理图(b) 等效电路图23Basic control structures5.2.2 Structure of Position Control 位置控制的基

15、本结构位置控制的基本结构5.9图 机器人位置控制基本结构5.2 机器人的位置控制(a) 关节空间控制结构(b) 直角坐标空间控制结构24Servo controlstructure of PUMA5.2.2 Structure of Position Control5.2 机器人的位置控制25Servo control structure for PUMA robot.9 PUMA图3 机器人的结构图5.2.2 Structure of Position Control5.2 Position Control of Robot26Servo control structure for PUMA

16、 robot5.10 PUMA图 机器人的伺服控制结构5.2.2 Structure of Position Control5.2 Position Control of Robot275.2.3 Position Controller of Single Joint 单关节位置控制器单关节位置控制器nStructure of Position control system5.11图 斯坦福机械手的位置控制系统方框图5.2 Position Control of Robot28Transfer function of a single-joint controller5.12图 一个关节的电动

17、机-齿轮-负载联合装置示意图)()()()(2IemmmmImmKkBRSBLJRJSLSKSVS(5.35)5.2.3 Position Controller of Single Joint5.2 Position Control of Robot295.13图 机械手位置控制器结构图5.2.3 Position Controller of Single Joint5.2 Position Control of Robot30Determinate Parameters and the Steady-State Error (SSE) Steady-State Error (SSE)1KK,

18、and tetIeffmKkKKBJRK/ )/(1ImeffKRJK4/2ILgfmsspKKCCCRe/ )(5.2.3 Position Controller of Single Joint(5.53)(5.55)(5.64)5.2 Position Control of Robot5.2.4 Position Controller with Multi-Joint 多关节位置控制器多关节位置控制器31Lagrangian dynamic equationniqLqLdtdiii, 2 , 1,T616161ijkikjijkiaijijiDqqDqJqD T5.2 Position C

19、ontrol of Robot5.2.4 Position Controller with Multi-Joint5.2 Position Control of Robot325.2.4 Position Controller with Multi-Joint 多关节位置控制器多关节位置控制器33Compensation of Coupled Inertia 耦合惯量补偿niqLqLdtdiii, 2 , 1,T616161ijkikjijkiaijijiDqqDqJqD T5.2 Position Control of Robot345.3 Hybrid Position/Force Con

20、trol of Robots 机器人的力和位置混合控制5.3.1 Schemes of Hybrid Position/Force Control 力和位置混合控制方案力和位置混合控制方案Active Stiffness Control主动刚性控制 如果希望在某个方向上遇到实际约束，那么这个方向的刚性应当降低，以保证有较低的结构应力；反之，在某些不希望碰到实际约束的方向上，则应加大刚性，这样可使机械手紧紧跟随期望轨迹。于是，就能够通过改变刚性来适应变化的作业要求。5.15图 主动刚性控制框图5.3 Hybrid Position/Force Control of Robot355.3.1 Sc

21、hemes of Hybrid ControlRaibert-Craig Position / Force Hybrid Controller雷伯特雷伯特- -克雷格位置克雷格位置/ /力混合控制器力混合控制器5.16 R-C图 控制器结构5.3 Hybrid Position/Force Control of Robot36Raibert-Craig Position / Force Hybrid Controller对R-C控制器进行如下改进：在混合控制器中考虑机械手的动态影响，并对机械手所受重力及哥氏力和向心力进行补偿； 考虑力控制系统的欠阻尼特性，在力控制回路中，加入阻尼反馈，以消弱振

22、荡因素。引入加速度前馈，以满足作业任务对加速度的要求，也可使速度平滑过渡。改进后的R-C力/位置混合控制系统结构图如图5.17所示。5.3 Hybrid Position/Force Control of Robot375.17R-C图 改进后的混合控制系统结构5.3 Hybrid Position/Force Control of RobotRaibert-Craig Position / Force Hybrid Controller385.3.1 Schemes of Hybrid Control操作空间力和位置混合控制系统5.18/图 操作空间力 位置混合控制系统框图5.3 Hybri

23、d Position/Force Control of Robot5.3.2 Control Rule Synthesis of Hybrid Sys. 力和位置混合控制系统控制规律的综合力和位置混合控制系统控制规律的综合位置控制规律位置控制规律 Position Control Equation of the system controller:Dynamic Equation of a closed-loop system:Let39)(),()()()(qGqqCqqKqqKqqMTdppdpdd (5.67)0qKqKqpppd (5.70)IKIKnppnpd22(5.71)5.3

24、Hybrid Position/Force Control of Robot40力控制规律力控制规律 Force Control令图5.17中的位置适从选择矩阵 S=0，控制末端在基坐标系z0方向上受到反作用力。设约束表面为刚体，末端受力如图5.19所示，那么对三连杆机械手进行力控制时有力控制选择矩阵：100000000S5.3.2 Control Rule Synthesis of Hybrid Sys.5.19图 机械手末端受力图5.3 Hybrid Position/Force Control of Robot力控制规律力控制规律 Force ControlDynamic Equatio

25、n of a closed-loop system:Results show that on the force control joint 1 does not work, joints 2 and 3 are effective.41)()(0223333233233313233322223221dfdfddfdfdffHqKJJqKJqffHqKJJqKJqq (5.76)5.3 Hybrid Position/Force Control of Robot42力和位置混合控制规律力和位置混合控制规律 Hybrid Control设约束坐标系与基坐标系重合。如果要求作业在基坐标系的z0方向

26、进行力控制，在某个与x0y0平面平行的约束面上进行位置控制，则适从选择矩阵为位置： 力： 000010001S100000000SfHJHJHJHJHJHJfHfHJzKzyKyKyxKxKxfdpppdpppd23313222312221311221322110 (5.84)5.3.2 Control Rule Synthesis of Hybrid Sys.5.3 Hybrid Position/Force Control of Robot5.4 Intelligent Control of Robots 机器人的智能控制机器人的智能控制5.4.1 Classification of In

27、telligent Control 智能控制系统的分类智能控制系统的分类 递阶控制(Hierarchical Control) 专家控制(Expert Control) 模糊控制(Fuzzy Control) 学习控制(Learning Control) 神经控制(Neuro Control) 进化控制(Evolution Control) 435.4 Intelligent Control of Robot5.4 Intelligent Control of Robots 机器人的智能控制机器人的智能控制5.4.1 Classification of Intelligent Control

28、智能控制系统的分类智能控制系统的分类 递阶控制系统(Hierarchical Control System) 组织级代表控制系统的主导思想，并由人工智能起控制作用。协调级是上（组织）级和下（执行）级间的接口，承上启下，并由人工智能和运筹学共同作用。执行级是递阶控制的底层，要求具有较高的精度和较低的智能，它按控制论进行控制，对相关过程执行适当的控制作用。445.4 Intelligent Control of RobotHierarchical Control System Structure of a hierarchical control systemThe control intelli

29、gence is hierarchically distributed according to the principle of increasing precision with decreasing intelligence (IPDI).455.20图 递阶智能机器的级联结构5.4 Intelligent Control of Robot46hierarchical control system of PUMA 600 with vision feedback.Hierarchically Control System5.21图 具有视觉反馈的机械手递阶控制结构5.4 Intellig

30、ent Control of Robot475.4.1 Classification of Intel. Control专家控制系统专家控制系统(Expert Control System)Almost all of the expert control system (controller) contains the knowledge base(知识库), reasoning engineer (推理机), rule set (控制规则集) and/or control algorithm.5.22图 专家控制器的典型结构5.4 Intelligent Control of Robot48

31、5.4.1 Classification of Intel. Control模糊控制系统模糊控制系统(Fuzzy Control System)A new mechanism of control law of knowledge-based (rule-based) and even language-description.An improved alternative method to non-linear control.5.23图 模糊控制系统的基本结构5.4 Intelligent Control of Robot495.4.1 Classification of Intel.

32、Control学习控制系统学习控制系统(Learning Control System)Four main functions of learning control: search, recognition, memory and reasoning.5.4 Intelligent Control of RobotOn-line learning control systemoff-line learning control system505.4.1 Classification of Intel. Control神经控制系统神经控制系统(Neuro-Control System)Cont

33、rol system based on Artificial Neural Network (ANN-based control), abbreviate as neural control or NN control. 5.4 Intelligent Control of RobotSupervised neural controller structure515.4.1 Classification of Intel. Control进化控制系统进化控制系统(Evolution Control System)Evolution and feedback are two basic regu

34、latory mechanisms complementary to each other. Combination of the two mechanisms produces a new intelligent control method - evolutionary control.Evolutionary control simulate the evolution mechanisms of biosphere, improve the autonomy, creativity and learning ability of the system.5.4 Intelligent C

35、ontrol of Robot525.4 .2 Adaptive Fuzzy Control of Robots 机器人的自适应模糊控制机器人的自适应模糊控制Fuzzy control is the most widely used intelligent control method:The PID fuzzy control, self-organizing fuzzy control, self-tuning fuzzy control, self-learning fuzzy control, expert fuzzy control, etc.5.26 ZebraZERO图 机器人模

36、型5.27/图 附加力外环的机器人力 位置自适应模糊控制系统框图5.4 Intelligent Control of Robot535.4.3 Neurocontrol of Multi-fingered Hands 多指灵巧手的神经控制Multi-fingered hand is also called multi-joint robot, generally made of a palm and 3 to 5 fingers, while each finger have 3 to 4 joints.Multi-fingered hand is smaller, with more degrees of freedom, and more flexible t