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Adaptive dynamic force/position hybrid control method for control system closed robot

A hybrid control and robot technology, applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., to achieve the effect of ensuring stability and convergence

Active Publication Date: 2018-08-28
BEIJING INST OF CONTROL ENG
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  • Application Information

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Problems solved by technology

Then a basic question is naturally raised: How to realize the dynamic force / position hybrid control of the robot under the limited design freedom (only open joint position or speed command)?
However, in the occasions where more precision, safety and cooperation are required, especially the booming collaborative robots and light robots, the influence of nonlinear coupling of robots ignored by kinematics control occupies a large proportion, which is very important for the stability of the system. and dynamic accuracy have a non-negligible effect

Method used

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  • Adaptive dynamic force/position hybrid control method for control system closed robot
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  • Adaptive dynamic force/position hybrid control method for control system closed robot

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Embodiment Construction

[0054] A control system closed robot adaptive dynamic force / position hybrid control method includes the following steps:

[0055] (1) Establish a parametric model of a closed robot with a control system

[0056] Such as figure 2 As shown, consider an n-DOF robot (n=2) touching a compliant environment. with x∈R n Indicates the end position of the manipulator, q∈R n Indicates the joint position of the manipulator, then there is a classic relation:

[0057] x=σ(q)(1)

[0058] where σ:R n →R n is a nonlinear function, R n represents an n-dimensional real space. with J(q)∈R n×n Represents the Jacobian matrix of the manipulator, then the relationship between the end speed of the manipulator and the joint speed of the manipulator can be expressed in the following classical form:

[0059]

[0060] Use δ x Indicates the amount of deformation of the environment contour due to the interaction with the end of the manipulator, then there is a classical relationship:

[0061...

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Abstract

The invention relates to a dynamic force / position hybrid control method aiming at a control system closed robot, being a nonlinear force / position hybrid control method suitable for a robot system withstrong nonlinearity and nondeterminacy and without open torque interface. The method can simultaneously adapt to the nondeterminacy of internal loop controller parameters of the system and the nondeterminacy of inertia, quality, centroid position, etc. of the robot system, and belongs to the technical field of robot control. The nonlinear control method based on dynamic feedback sufficiently considers dynamic coupling and nonlinearity of the robot. The control method represents a mechanical arm joint position or speed command, and the command information includes dynamic compensation of measurement information based on force and status information of a mechanical arm and is used for realizing dynamic force / position hybrid control of the robot. The control method expands the current free space control method based on dynamic feedback to the condition of considering the contact between the tail end of the mechanic arm and the environment.

Description

technical field [0001] The invention relates to a dynamic force / position hybrid control method for a closed robot with a control system, which is a nonlinear force / position hybrid control method suitable for a robot system with strong nonlinearity and uncertainty and no open moment interface. The invention can simultaneously adapt to the uncertainty of the parameters of the inner loop controller of the system and the uncertainty of the inertia, mass, and position of the center of mass of the robot system, and belongs to the technical field of robot control. Background technique [0002] The force / position hybrid control method is an important means to deal with the compliant interaction between the robot and the environment. It was proposed in the 1980s, mainly for the robot system with open joint torque. However, in industrial and engineering applications, the implementation of dynamic force / position hybrid control is subject to the closed constraints of the robot control s...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1633
Inventor 王汉磊解永春周扬
Owner BEIJING INST OF CONTROL ENG
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