CN-116442239-B - Control signal vibration suppression method for force control and computer device

CN116442239BCN 116442239 BCN116442239 BCN 116442239BCN-116442239-B

Abstract

The present application relates to a control signal vibration suppression method for force control, a computer device, and a readable storage medium. The method includes obtaining a first output signal of a force sensing device, the first output signal including at least one of a force signal and a moment signal (S110), processing the first output signal by an analog differentiating circuit to obtain a second output signal corresponding to a differential amount of the at least one of the force signal and the moment signal (S120), and using the second output signal for control signal vibration suppression of force control (S130). The vibration suppression performance of the control signal for force control can be improved by adopting the method.

Inventors

YE XIYANG
CHEN BAIYAN
NIE YAOHUA

Assignees

上海非夕机器人科技有限公司
非夕科技有限公司

Dates

Publication Date: 20260505
Application Date: 20230526

Claims (7)

1. A control signal vibration suppression method for force control, comprising: acquiring a first output signal of the force sensing device, the first output signal comprising at least one of a force signal and a torque signal; Processing the first output signal by an analog differentiating circuit to obtain a second output signal corresponding to a differential amount of at least one of the force signal and the moment signal, and Using the second output signal for control signal vibration suppression of force control; the first output signal is indicative of an output torque of the robotic joint, the method further comprising: acquiring expected moment and expected moment differential values of the robot joint; The control signal vibration suppression using the second output signal for force control includes: and adjusting the motor output of the robot joint according to the expected moment, the expected moment differential quantity and the second output signal.
2. The method of claim 1, wherein the force sensing device comprises a plurality of force sensing elements and the first output signal comprises a plurality of measurement signals; said processing of said first output signal by an analog differentiating circuit to obtain a second output signal corresponding to a differential amount of at least one of said force signal and said moment signal, comprising: processing the plurality of measurement signals through a plurality of analog differential circuits in a one-to-one correspondence to obtain differential quantities of the plurality of measurement signals, and The second output signal is determined from differential amount calculations of the plurality of measurement signals.
3. The method of claim 1, wherein the force sensing device comprises a plurality of force sensing elements and the first output signal comprises a plurality of measurement signals; said processing of said first output signal by an analog differentiating circuit to obtain a second output signal corresponding to a differential amount of at least one of said force signal and said moment signal, comprising: fusing the plurality of measurement signals to obtain one or more fused measurement signals; Processing the one or more fused measurement signals in a one-to-one correspondence by one or more analog differentiating circuits to obtain differential quantities of the one or more fused measurement signals, and The second output signal is determined from differential computation of the one or more fused measurement signals.
4. A computer device comprising a memory and a processor, the memory storing processor-executable instructions that, when executed by the processor, cause the processor to: acquiring a first output signal of the force sensing device, the first output signal comprising at least one of a force signal and a torque signal; Processing the first output signal by an analog differentiating circuit to obtain a second output signal corresponding to a differential amount of at least one of the force signal and the moment signal, and Using the second output signal for control signal vibration suppression of force control; The first output signal is representative of an output torque of a robotic joint, the processor-executable instructions, when executed by the processor, cause the processor to: acquiring expected moment and expected moment differential values of the robot joint; The control signal vibration suppression using the second output signal for force control includes: and adjusting the motor output of the robot joint according to the expected moment, the expected moment differential quantity and the second output signal.
5. The computer device of claim 4, wherein the force sensing device comprises a plurality of force sensing elements and the first output signal comprises a plurality of measurement signals; said processing of said first output signal by an analog differentiating circuit to obtain a second output signal corresponding to a differential amount of at least one of said force signal and said moment signal, comprising: processing the plurality of measurement signals through a plurality of analog differential circuits in a one-to-one correspondence to obtain differential quantities of the plurality of measurement signals, and The second output signal is determined from differential amount calculations of the plurality of measurement signals.
6. The computer device of claim 4, wherein the force sensing device comprises a plurality of force sensing elements and the first output signal comprises a plurality of measurement signals; said processing of said first output signal by an analog differentiating circuit to obtain a second output signal corresponding to a differential amount of at least one of said force signal and said moment signal, comprising: fusing the plurality of measurement signals to obtain one or more fused measurement signals; Processing the one or more fused measurement signals in a one-to-one correspondence by one or more analog differentiating circuits to obtain differential quantities of the one or more fused measurement signals, and The second output signal is determined from differential computation of the one or more fused measurement signals.
7. A computer readable storage medium having stored thereon processor executable instructions which when executed by a processor cause the processor to implement the steps of the method of any of claims 1 to 3.

Description

Control signal vibration suppression method for force control and computer device Technical Field The present application relates to the field of robotics, and in particular, to a method and computer device for suppressing vibration of a control signal for force control. Background Even in the most well designed, stiff robots, the flexibility of the joints and links still exists, and vibrations resulting from these flexibilities can disrupt the stability of the robot and reduce its performance. In addition, some flexibility is deliberately increased to provide sensing capabilities, for example, in torque controlled robots designed to perform contact control, flexible elements are embedded in the system to be able to measure external forces. These elements may be six axis force/torque sensors that act as single axis torque sensors on the joints and/or robotic end effectors. In order to fully utilize these additional sensing capabilities and minimize the effects of signal vibrations during operation, the system will need to measure and compensate for the vibrations. Conventional vibration suppression control methods mainly use IMU (Inertial Measuring Unit, inertial measurement unit) or joint acceleration as feedback, and these signals tend to be noisy. Some conventional control methods rely on limited differentiation of forces, but tend to amplify the noise of these signals, resulting in poor performance of the robotic system. Disclosure of Invention Based on this, it is necessary to provide a control signal vibration suppressing method for force control, a computer device, and a non-transitory computer-readable storage medium in view of the above-described technical problems. A first aspect of an embodiment of the present application provides a control signal vibration suppression method for force control, including obtaining a first output signal of a force sensing device, the first output signal including at least one of a force signal and a moment signal, processing the first output signal through an analog differential circuit to obtain a second output signal corresponding to a differential amount of the at least one of the force signal and the moment signal, and using the second output signal for control signal vibration suppression for force control. In a first aspect of the application, the force sensing device comprises a plurality of force sensing elements, the first output signal comprises a plurality of measurement signals, the processing of the first output signal by an analog differentiating circuit to obtain a second output signal corresponding to a differential amount of at least one of the force signal and the moment signal comprises processing the plurality of measurement signals by a plurality of analog differentiating circuits in a one-to-one correspondence to obtain a differential amount of the plurality of measurement signals, and determining the second output signal based on differential amount calculations of the plurality of measurement signals. In a first aspect of the application, the force sensing device comprises a plurality of force sensing elements, the first output signal comprises a plurality of measurement signals, the processing of the first output signal by an analog differentiating circuit to obtain a second output signal corresponding to a differential amount of at least one of the force signal and the moment signal comprises fusing the plurality of measurement signals to obtain one or more fused measurement signals, the processing of the one or more fused measurement signals by one or more analog differentiating circuits to obtain a differential amount of the one or more fused measurement signals, and determining the second output signal based on a differential amount calculation of the one or more fused measurement signals. In a first aspect of the application, the first output signal characterizes an output torque of a robotic joint, the method further comprising obtaining a desired torque and a desired torque derivative of the robotic joint, and the control signal vibration suppression using the second output signal for force control comprises adjusting a motor output of the robotic joint based on the desired torque, the desired torque derivative and the second output signal. In a first aspect of the application, the first output signal characterizes an output force of a robotic end effector, the method further comprises obtaining a desired force and a desired differential force of the robotic end effector, and the using the second output signal for control signal vibration suppression of force control comprises adjusting an output displacement of the robotic end effector based on the desired force, the desired differential force, and the second output signal. A second aspect of an embodiment of the present application provides a computer device comprising a memory and a processor, the memory storing processor executable instructions that when executed by the processo