Robot servo control method, device and robot

A technology of servo control and robotics, applied in the field of robotics, can solve the problems of servo control precision constraints, PID control overshoot and time lag, etc.

Active Publication Date: 2021-04-23
SHENZHEN YUEJIANG TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In view of this, the embodiment of the present invention provides a robot servo control method, device and robot to solve the problem of overshoot and time lag in PID control in the prior art, which restricts the accuracy of servo control

Method used

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  • Robot servo control method, device and robot
  • Robot servo control method, device and robot
  • Robot servo control method, device and robot

Examples

Experimental program
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Effect test

Embodiment 1

[0046] Such as figure 1 As shown, this embodiment provides a servo control method for a robot, which can be applied to terminal devices such as mobile phones, PCs, tablet computers, and robots. The servo control method of the robot provided in this embodiment includes:

[0047] S101. Obtain the actual moment of each joint of the robot.

[0048] In a specific application, the actual torque of each joint of the robot is obtained through the inverse dynamics equation. Specifically, the position, velocity, and acceleration of each joint of the robot under the current trajectory are calculated according to the inverse dynamics equation, and each joint of the robot is obtained. The actual moment of the joint.

[0049] S102. Obtain the reduction ratio of the joints and the rated torque of the motors of each joint of the robot.

[0050] In a specific application, the joint reduction ratio of each joint and the preset motor rated torque of each joint of the robot are obtained throug...

Embodiment 2

[0062] Such as figure 2 As shown, this embodiment is a further description of the method steps in the first embodiment. In this embodiment, step S101 includes

[0063] S1011. Obtain the dynamic parameters of each joint of the robot; wherein the dynamic parameters include inertia tensor, static moment, mass, motor rotor inertia, viscous friction coefficient and Coulomb friction coefficient;

[0064] In a specific application, the dynamic parameters of each joint of the robot are obtained through the dynamic parameter identification method (or directly obtain the preset dynamic parameters), where the dynamic parameters include but not limited to the inertia tensor, static moment, mass, motor Rotor inertia, viscous and Coulomb friction coefficients in the friction model. The static moment includes the static moment of the joint in the three directions of the X axis, the Y axis and the Z axis (ie MX, MY, MZ).

[0065] S1012. Perform speed planning according to the dynamic para...

Embodiment 3

[0074] Such as image 3 As shown, this embodiment is a further description of the method steps in the first embodiment. In this embodiment, step S104 includes:

[0075] S1041. Send the torque feedforward command value to the torque feedforward port;

[0076] In a specific application, the torque feed-forward command value obtained through calculation is sent to the torque feed-forward port to adjust the torque of each joint of the robot.

[0077] S1042. Control the torque feed-forward port to perform feed-forward compensation for the torques of all joints of the robot according to the torque feed-forward command value.

[0078] In a specific application, the control torque feedforward port performs feedforward compensation on the torque of the corresponding joints according to the torque feedforward command value, even if the actual torque of all joints of the robot is equal to the corresponding torque feedforward command value.

[0079] In this embodiment, the torque feed-...

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Abstract

The present invention is applicable to the technical field of robot control, and provides a robot servo control method, device and terminal equipment, including: obtaining the actual moment of each joint of the robot, obtaining the reduction ratio of the joint and the motor of each joint of the robot Rated torque, obtain the torque feed-forward command value of each joint according to the joint deceleration ratio, the actual torque of each joint, and the motor rated torque of each joint, and control the robot according to the torque feed-forward command value The moments of all joints are feed-forward compensated. The present invention acquires and calculates the actual torque of the robot in different motion states, the shutdown reduction ratio, and the rated torque of the motor to obtain the torque feed-forward compensation value of each joint of the robot, so as to perform feed-forward compensation on the torque of each joint, and improve the performance of the robot. Dynamic tracking performance in acceleration and deceleration sections.

Description

technical field [0001] The invention belongs to the technical field of robot control, and in particular relates to a robot servo control method, device and robot. Background technique [0002] The servo control of the robot mainly relies on the three-loop control of the servo itself (ie, the position loop, the speed loop and the torque loop), and depends on the adjustment of the output by the PID control. [0003] Due to the problems of overshoot and time lag in PID control itself, the accuracy of servo control is restricted. At present, many servos enhance the tracking performance of the servo by adding speed feedforward commands. [0004] However, due to the relatively large speed change of the robot during the movement process, hysteresis still occurs, which reduces the tracking performance of the servo. Contents of the invention [0005] In view of this, embodiments of the present invention provide a robot servo control method, device, and robot to solve the problem ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
Inventor 黄睿朗需林刘培超林炯辉曹林攀
Owner SHENZHEN YUEJIANG TECH CO LTD
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