Robot compliance control method based on contact force observer

Abstract

The invention discloses a robot compliance control method based on a contact force observer. The robot compliance control method belongs to the field of robot control, does not adopt a force sensor for measuring a contact force of a robot and the environment, but adopts a model for estimating magnitude of the force according to a motion state, and realizes compliance control of the robot by adopting a position-based impedance controller. The robot compliance control method comprises the steps of: acquiring joint angular velocity information by means of an encoder, and estimating an angle, an angular velocity and angular velocity information by means of a state observer; calculating a joint effective driving moment by means of a disturbance observer according to motor current information and joint state information; calculating a joint driving moment required by driving a mechanism to move through adopting a kinetic model according to a joint motion state; and subtracting the driving moment obtained through calculation by adopting the kinetic model from the effective driving moment to obtain a joint driving moment caused by the action of an external force, and mapping the joint driving moment by means of Jacobian matrix to obtain an environmental contact force. The robot compliance control method based on the contact force observer has the advantage that an expensive and easily-damaged multi-dimensional force sensor does not need to be installed.

Description

Technical field [0001] The invention belongs to the field of robot control, and specifically is a robot compliance control method based on a contact force observer, without a multi-dimensional force sensor, and adopts a model estimation method to estimate the contact force as the force feedback of the compliance control to realize the compliance control of the robot. Background technique [0002] Robot compliance control is widely used in cutting, polishing, and assembly operations, as well as in the walking process of walking robots. Compliance control is divided into active compliance control and passive compliance control. The robot relies on some auxiliary compliance mechanisms to make it naturally compliant with external forces when it comes into contact with the environment, which is called passive compliance control; passive compliance mechanisms are the use of some that enable the robot to absorb or store energy when interacting with the environment. Mechanisms such as s...

AI Technical Summary

Problems solved by technology

There are some problems in the operation of the robot using passive compliance control: (1) The contradiction between the high rigidity and high flexibility of the robot cannot be eradicated

(2) The passive compliance device has strong specificity, poor adaptability, and limited scope of application

(3) It is impossible to make the robot itself react to the force, and the success rate is low, etc.

However, multi-dimensional force sensors are often expensive and easily damaged. For some robots, force sensors cannot be installed

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