機(jī)器人學(xué)基礎(chǔ)第5章機(jī)器人控制ppt課件

1、機(jī)器人學(xué)基礎(chǔ)機(jī)器人學(xué)基礎(chǔ) Fundamentals of Robotics智能科學(xué)基礎(chǔ)系列課程國(guó)家級(jí)教學(xué)團(tuán)隊(duì)智能科學(xué)基礎(chǔ)系列課程國(guó)家級(jí)教學(xué)團(tuán)隊(duì)“機(jī)器人學(xué)機(jī)器人學(xué)課程課程主講：蔡自興主講：蔡自興 謝斌謝斌中南大學(xué)中南大學(xué)2019Fundamentals 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中南大學(xué)中南大學(xué)蔡自興，謝蔡自興，謝 斌斌zxcai, zxcai, 20192019機(jī)器人學(xué)基礎(chǔ)機(jī)器人學(xué)基礎(chǔ)第五章第五章 機(jī)器人控制機(jī)器人控制4Ch.5 Robot ControlFundamentals of RoboticsFundamentals of RoboticsChapter 5 Robot Control第五章第五章 機(jī)器人控制機(jī)器人控制5.1 Basic P

3、rinciples of Robot Control5.2 Position Control 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 U

4、SAMade in ChinaCan play games, dance and singWatch 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

5、Control 機(jī)器人的基本控制原則機(jī)器人的基本控制原則 The issue of robot 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.

6、 Every control task it self is a dynamical task. 機(jī)器人學(xué)基礎(chǔ)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 Bas

7、ic Principles of Robot Controladaptive controlhierarchical 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 depe

8、nds on its head, that the development of the processor. Various control methods can be used according to the actual working conditions.5.1 表機(jī)器人控制的分類及其分析方法5.1 Basic Principles of Robot Control5.1.1 Basic Control Principles13主要控制變量Control Variables） Control variables of joints of a manipulator5.1 圖機(jī)器手

9、各關(guān)節(jié)控制變量5.1 機(jī)器人的基本控制原則14控制層次 Control Levels Level 1： Level of AILevel 2 ： Level of control model Level 3 ： Level of servo system5.2 圖機(jī)器手主要控制層次5.1.1 Basic Control Principles5.1 機(jī)器人的基本控制原則5.1.1 Basic Control Principles Robot control is the control of bidirectional equation: 末端執(zhí)行裝置的狀態(tài)是由任務(wù)軸的許多參數(shù)表示的，它是機(jī)器人

10、運(yùn)動(dòng)模型矢量X的分量。要控制矢量X 隨時(shí)間變化的情況，即 ，它表示末端執(zhí)行裝置在空間的實(shí)時(shí)位置。只有當(dāng)關(guān)節(jié)移動(dòng)時(shí)，X 才變化。用矢量 表示關(guān)節(jié)變量與受控量關(guān)系關(guān)節(jié)變量，即 至 。 各關(guān)節(jié)具有運(yùn)動(dòng)學(xué)模型C1至C6，這些模型構(gòu)成關(guān)節(jié)矢量 ，并由各傳動(dòng)電動(dòng)機(jī)的力矩矢量 經(jīng)過(guò)變速機(jī)送到各個(gè)關(guān)節(jié)。在電流或電壓矢量 提供的動(dòng)力作用和微處理機(jī)的控制下，這些電動(dòng)機(jī)產(chǎn)生力矩 。 )()()()()(tXttCtTtV )(tX( ) t 1)(tC)(tT)(tV)(tT616控制層次 Control Levels 1st Grade: Artificial Intelligence level2nd Grad

11、e: Control model level3rd Grade: Servo system-level5.2 圖機(jī)器手主要控制層次5.1.1 Basic Control Principles5.1 Basic Principles of Robot Control5.1.2 Examples of Servo-control System 伺服控制系統(tǒng)舉例伺服控制系統(tǒng)舉例Servo driven system of hydraulic cylinder175.1 機(jī)器人的基本控制原則5.3 圖液壓缸伺服傳動(dòng)系統(tǒng)結(jié)構(gòu)圖Electro-hydraulic servo control system1

12、85.1.2 Examples of Servo-control System5.4 -圖電 液壓伺服控制系統(tǒng)5.1 機(jī)器人的基本控制原則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 mani

13、pulator is an ideal rigid body without friction and gap.Only one degree of freedom for each link, either translation or rotation. 5.2 Position Control of Robot 機(jī)器人的位置控制機(jī)器人的位置控制5.2 Position Control of Robot205.2.1 Modeling of D.C Control System 直流傳動(dòng)系統(tǒng)的建模直流傳動(dòng)系統(tǒng)的建模nTransfer function and equivalent diag

14、ram 5.2 機(jī)器人的位置控制5.5圖 直流電動(dòng)機(jī)伺服傳動(dòng)原理根據(jù)電力傳動(dòng)原理可求得下列傳遞函數(shù)：根據(jù)電力傳動(dòng)原理可求得下列傳遞函數(shù)：電動(dòng)機(jī)的開環(huán)傳遞函數(shù)，見式電動(dòng)機(jī)的開環(huán)傳遞函數(shù)，見式5.16電樞控制直流電動(dòng)機(jī)的傳遞函數(shù)電樞控制直流電動(dòng)機(jī)的傳遞函數(shù)(1)，見式，見式5.23 )()()(2KFSJSSlrkSVSffmfm)()()(memmmmmkkJSFSLRSkSVS22Speed regulation of DC motor5.2 機(jī)器人的位置控制5.8圖 具有測(cè)速反饋的直流電動(dòng)機(jī)控制原理圖5.2.1 Modeling of DC Control System(a) 控制原理圖(b

15、) 等效電路圖23Basic control structures5.2.2 Structure of Position Control 位置控制的基本結(jié)構(gòu)位置控制的基本結(jié)構(gòu)5.9圖 機(jī)器人位置控制基本結(jié)構(gòu)5.2 機(jī)器人的位置控制(a) 關(guān)節(jié)空間控制結(jié)構(gòu)(b) 直角坐標(biāo)空間控制結(jié)構(gòu)24Servo controlstructure of PUMA5.2.2 Structure of Position Control5.2 機(jī)器人的位置控制25Servo control structure for PUMA robot.9 PUMA圖3 機(jī)器人的結(jié)構(gòu)圖5.2.2 Structure of Posi

16、tion Control5.2 Position Control of Robot26Servo control structure for PUMA robot5.10 PUMA圖 機(jī)器人的伺服控制結(jié)構(gòu)5.2.2 Structure of Position Control5.2 Position Control of Robot275.2.3 Position Controller of Single Joint 單關(guān)節(jié)位置控制器單關(guān)節(jié)位置控制器nStructure of Position control system5.11圖 斯坦福機(jī)械手的位置控制系統(tǒng)方框圖5.2 Position Co

17、ntrol of Robot28Transfer function of a single-joint controller5.12圖 一個(gè)關(guān)節(jié)的電動(dòng)機(jī)-齒輪-負(fù)載聯(lián)合裝置示意圖)()()()(2IemmmmImmKkBRSBLJRJSLSKSVS(5.35)5.2.3 Position Controller of Single Joint5.2 Position Control of Robot295.13圖 機(jī)械手位置控制器結(jié)構(gòu)圖5.2.3 Position Controller of Single Joint5.2 Position Control of Robot30Determina

18、te Parameters and the Steady-State Error (SSE) Steady-State Error (SSE)1KK,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 多關(guān)節(jié)位置控制器多關(guān)節(jié)位置控制器31Lagrangian dynamic

19、equationniqLqLdtdiii, 2 , 1,T616161ijkikjijkiaijijiDqqDqJqD T5.2 Position Control of Robot5.2.4 Position Controller with Multi-Joint5.2 Position Control of Robot325.2.4 Position Controller with Multi-Joint 多關(guān)節(jié)位置控制器多關(guān)節(jié)位置控制器33Compensation of Coupled Inertia 耦合慣量補(bǔ)償niqLqLdtdiii, 2 , 1,T616161ijkikjijkia

20、ijijiDqqDqJqD T5.2 Position Control of Robot345.3 Hybrid Position/Force Control of Robots 機(jī)器人的力和位置混合控制機(jī)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主動(dòng)剛性控制主動(dòng)剛性控制 如果希望在某個(gè)方向上遇到實(shí)際約束，如果希望在某個(gè)方向上遇到實(shí)際約束，那么這個(gè)方向的剛性應(yīng)當(dāng)降低，以保證那么這個(gè)方向的剛性應(yīng)當(dāng)降低，以保證有較低的結(jié)構(gòu)應(yīng)力；反之，在某

21、些不希有較低的結(jié)構(gòu)應(yīng)力；反之，在某些不希望碰到實(shí)際約束的方向上，則應(yīng)加大剛望碰到實(shí)際約束的方向上，則應(yīng)加大剛性，這樣可使機(jī)械手緊緊跟隨期望軌跡性，這樣可使機(jī)械手緊緊跟隨期望軌跡。于是，就能夠通過(guò)改變剛性來(lái)適應(yīng)變。于是，就能夠通過(guò)改變剛性來(lái)適應(yīng)變化的作業(yè)要求?；淖鳂I(yè)要求。5.15圖 主動(dòng)剛性控制框圖5.3 Hybrid Position/Force Control of Robot355.3.1 Schemes 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

22、控制器5.16 R-C圖 控制器結(jié)構(gòu)5.3 Hybrid Position/Force Control of Robot36Raibert-Craig Position / Force Hybrid Controller對(duì)R-C控制器進(jìn)行如下改進(jìn)：在混合控制器中考慮機(jī)械手的動(dòng)態(tài)影響，并對(duì)機(jī)械手所受重力及哥氏力和向心力進(jìn)行補(bǔ)償； 考慮力控制系統(tǒng)的欠阻尼特性，在力控制回路中，加入阻尼反饋，以消弱振蕩因素。引入加速度前饋，以滿足作業(yè)任務(wù)對(duì)加速度的要求，也可使速度平滑過(guò)渡。改進(jìn)后的R-C力/位置混合控制系統(tǒng)結(jié)構(gòu)圖如圖5.17所示。5.3 Hybrid Position/Force Control of

23、 Robot375.17R-C圖 改進(jìn)后的混合控制系統(tǒng)結(jié)構(gòu)5.3 Hybrid Position/Force Control of RobotRaibert-Craig Position / Force Hybrid Controller385.3.1 Schemes of Hybrid Control操作空間力和位置混合控制系統(tǒng)5.18/圖 操作空間力位置混合控制系統(tǒng)框圖5.3 Hybrid Position/Force Control of Robot5.3.2 Control Rule Synthesis of Hybrid Sys. 力和位置混合控制系統(tǒng)控制規(guī)律的綜合力和位置混合控制系

24、統(tǒng)控制規(guī)律的綜合位置控制規(guī)律位置控制規(guī)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 Hybrid Position/Force Control of Robot40力控制規(guī)律力控制規(guī)律 Force Control令圖令圖5.17中的位置適從選擇矩陣中的位置適從選擇矩陣 S=0，控制末，控制

25、末端在基坐標(biāo)系端在基坐標(biāo)系z(mì)0方向上受到反作用力。設(shè)約束方向上受到反作用力。設(shè)約束表面為剛體，末端受力如圖表面為剛體，末端受力如圖5.19所示，那么對(duì)所示，那么對(duì)三連桿機(jī)械手進(jìn)行力控制時(shí)有力控制選擇矩陣：三連桿機(jī)械手進(jìn)行力控制時(shí)有力控制選擇矩陣：100000000S5.3.2 Control Rule Synthesis of Hybrid Sys.5.19圖 機(jī)械手末端受力圖5.3 Hybrid Position/Force Control of Robot力控制規(guī)律力控制規(guī)律 Force ControlDynamic Equation of a closed-loop system:Res

26、ults 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力和位置混合控制規(guī)律力和位置混合控制規(guī)律 Hybrid Control設(shè)約束坐標(biāo)系與基坐標(biāo)系重合。如果要求作設(shè)約束坐標(biāo)系與基坐標(biāo)系重合。如果要求作業(yè)在基坐標(biāo)系的業(yè)在基坐標(biāo)系的z0方向進(jìn)行力

27、控制，在某個(gè)方向進(jìn)行力控制，在某個(gè)與與x0y0平面平行的約束面上進(jìn)行位置控制，平面平行的約束面上進(jìn)行位置控制，則適從選擇矩陣為則適從選擇矩陣為位置：位置： 力：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 機(jī)器人的

28、智能控制機(jī)器人的智能控制5.4.1 Classification of Intelligent Control 智能控制系統(tǒng)的分類智能控制系統(tǒng)的分類 遞階控制遞階控制(Hierarchical Control) 專家控制專家控制(Expert Control) 模糊控制模糊控制(Fuzzy Control) 學(xué)習(xí)控制學(xué)習(xí)控制(Learning Control) 神經(jīng)控制神經(jīng)控制(Neuro Control) 進(jìn)化控制進(jìn)化控制(Evolution Control) 435.4 Intelligent Control of Robot5.4 Intelligent Control of Robot

29、s 機(jī)器人的智能控制機(jī)器人的智能控制5.4.1 Classification of Intelligent Control 智能控制系統(tǒng)的分類智能控制系統(tǒng)的分類 遞階控制系統(tǒng)遞階控制系統(tǒng)(Hierarchical Control System) 組織級(jí)代表控制系統(tǒng)的主導(dǎo)思想，并由人組織級(jí)代表控制系統(tǒng)的主導(dǎo)思想，并由人工智能起控制作用。工智能起控制作用。協(xié)調(diào)級(jí)是上組織級(jí)和下執(zhí)行級(jí)間協(xié)調(diào)級(jí)是上組織級(jí)和下執(zhí)行級(jí)間的接口，承上啟下，并由人工智能和運(yùn)的接口，承上啟下，并由人工智能和運(yùn)籌學(xué)共同作用?；I學(xué)共同作用。執(zhí)行級(jí)是遞階控制的底層，要求具有較高執(zhí)行級(jí)是遞階控制的底層，要求具有較高的精度和較低的智能，它

30、按控制論進(jìn)行的精度和較低的智能，它按控制論進(jìn)行控制，對(duì)相關(guān)過(guò)程執(zhí)行適當(dāng)?shù)目刂谱饔每刂?，?duì)相關(guān)過(guò)程執(zhí)行適當(dāng)?shù)目刂谱饔谩?45.4 Intelligent Control of RobotHierarchical Control System Structure of a hierarchical control systemThe control intelligence is hierarchically distributed according to the principle of increasing precision with decreasing intelligence (IP

31、DI).455.20圖 遞階智能機(jī)器的級(jí)聯(lián)結(jié)構(gòu)5.4 Intelligent Control of Robot46hierarchical control system of PUMA 600 with vision feedback.Hierarchically Control System5.21圖 具有視覺反饋的機(jī)械手遞階控制結(jié)構(gòu)5.4 Intelligent Control of Robot475.4.1 Classification of Intel. Control專家控制系統(tǒng)專家控制系統(tǒng)(Expert Control System)Almost all of the expert

32、 control system (controller) contains the knowledge base(知識(shí)庫(kù)知識(shí)庫(kù)), reasoning engineer (推理機(jī)推理機(jī)), rule set (控制規(guī)則集控制規(guī)則集) and/or control algorithm.5.22圖 專家控制器的典型結(jié)構(gòu)5.4 Intelligent Control of Robot485.4.1 Classification of Intel. Control模糊控制系統(tǒng)模糊控制系統(tǒng)(Fuzzy Control System)A new mechanism of control law of kn

33、owledge-based (rule-based) and even language-description.An improved alternative method to non-linear control.5.23圖 模糊控制系統(tǒng)的基本結(jié)構(gòu)5.4 Intelligent Control of Robot495.4.1 Classification of Intel. Control學(xué)習(xí)控制系統(tǒng)學(xué)習(xí)控制系統(tǒng)(Learning Control System)Four main functions of learning control: search, recognition, me

34、mory and reasoning.5.4 Intelligent Control of RobotOn-line learning control systemoff-line learning control system505.4.1 Classification of Intel. Control神經(jīng)控制系統(tǒng)神經(jīng)控制系統(tǒng)(Neuro-Control System)Control system based on Artificial Neural Network (ANN-based control), abbreviate as neural control or NN contro

35、l. 5.4 Intelligent Control of RobotSupervised neural controller structure515.4.1 Classification of Intel. Control進(jìn)化控制系統(tǒng)進(jìn)化控制系統(tǒng)(Evolution Control System)Evolution and feedback are two basic regulatory mechanisms complementary to each other. Combination of the two mechanisms produces a new intelligent

36、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 Control of Robot525.4 .2 Adaptive Fuzzy Control of Robots 機(jī)器人的自適應(yīng)模糊控制機(jī)器人的自適應(yīng)模糊控制Fuzzy control is the most wid

37、ely 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圖 機(jī)器人模型5.27/圖 附加力外環(huán)的機(jī)器人力 位置自適應(yīng)模糊控制系統(tǒng)框圖5.4 Intelligent Control of Robot535.4.3 Neurocontrol of Multi-fingered Hands 多指靈巧手的神經(jīng)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, wi