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A Coupling Feedforward Control Method for Robot

A feedforward control and feedforward controller technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as restricting control quality, and achieve the effect of simple algorithm and easy implementation.

Active Publication Date: 2021-10-19
TIANJIN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the robot is a multi-joint coupling system. In high-speed, high-acceleration applications, the coupling between joints restricts the further improvement of control quality.

Method used

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  • A Coupling Feedforward Control Method for Robot
  • A Coupling Feedforward Control Method for Robot
  • A Coupling Feedforward Control Method for Robot

Examples

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Embodiment Construction

[0016] In order to make the technical solution of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings. It should be understood that the specific examples described here are only used to explain the present invention, but are not limited to this example.

[0017] A kind of coupling feed-forward control method for robot of the present invention (such as figure 1 shown), including the following steps:

[0018] (a) each joint motor of the robot is connected to a servo driver respectively and each servo driver is connected to the feed-forward controller, the feedback controller and the coupling feed-forward controller of each joint motor respectively, and the feedback controller adopts PID Controller, feedforward controller adopts speed and acceleration feedforward controller;

[0019] The feed-forward controller is based on the expected position value θ of the motor connected to the controll...

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Abstract

The invention discloses a coupling feedforward control method for a robot, which comprises the following steps: step 1, the servo drivers of each joint of the robot are connected with a PID feedback controller and a speed and acceleration feedforward controller; Perform first-order and second-order differentials on the expected rotation angles of joint motors other than joint control motors, multiply the first-order differential by the corresponding speed feedforward gain, multiply the second-order differential by the corresponding acceleration feedforward gain, and sum to obtain the coupling feedforward control command; Step 3: Add the feedback control instruction and feedforward control instruction obtained in step 1 to the coupling feedforward control instruction obtained in step 2, and output to the servo driver of the controlled joint motor. By adopting the method, the coupling disturbance between joints can be compensated in real time without complex dynamic calculation, thereby improving the motion control accuracy of the robot in high-speed and high-acceleration applications.

Description

technical field [0001] The invention relates to the field of robot technology and automation, in particular to a robot coupling feedforward control method. Background technique [0002] Industrial robot position loop controller generally adopts PID controller. This kind of controller has simple structure, strong robustness and high reliability, and occupies a dominant position in the industrial control process. Considering that there is a certain hysteresis in the feedback control, adding speed and acceleration feedforward controllers on the basis of the PID controller to realize compound control can significantly improve the following accuracy of the servo system. Usually in the case of low speed and low acceleration, using the above-mentioned decentralized control structure based on the compound control strategy can achieve a relatively ideal control effect. However, the robot is a multi-joint coupling system. In high-speed, high-acceleration applications, the coupling b...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602
Inventor 黄田刘祺肖聚亮刘海涛秦旭达牛文铁梅江平
Owner TIANJIN UNIV
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