Manipulator Control Method Based on Impedance Control

Abstract

The invention discloses a control method of a mechanical arm based on impedance control, which includes a mechanical arm with an end effector and a position controller and a host computer for inputting and calculating parameters, and the end effector is provided with a position Sensors, speed sensors and force sensors, and include a. input calculation expected pose variables, b. calculation of expected control torque, c. calculation of error torque, d. calculation of main control torque and control the movement of the robot until it meets the expected value. The impedance control-based control method of the mechanical arm obtained in the present invention is compared with the traditional control method of the mechanical arm. After the mechanical arm starts and receives the parameters fed back by the sensor, the PID control method is used to adjust the error value, and the calculation result is used to replace the traditional impedance. The error value directly used in the control avoids the peak value of the main control torque that is much larger than the expected value in the process of approaching the expected value, so the mechanical arm will not cause impact on the material, and can realize high-precision handling and processing operations.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a method for controlling a mechanical arm based on impedance control. Background technique [0002] In the fields of modern aerospace, logistics, manufacturing and processing, the robotic arm undertakes a large number of tasks of cargo handling, equipment installation and product processing. In the motion control of the robotic arm, when the end effector of the robotic arm contacts the task target, due to The sudden appearance of the mutual contact force between the actuator and the task target will inevitably lead to an error between the final pose of the end effector and the original target pose of the manipulator. The material to be processed will cause damage and affect the correct execution of the task. Therefore, in the prior art, compliant control methods such as impedance control are used, mainly by calculating the expected generalized force under the desired pose and the act...

AI Technical Summary

Problems solved by technology

[0002] In the fields of modern aerospace, logistics, manufacturing and processing, the robotic arm undertakes a large number of tasks of cargo handling, equipment installation and product processing. In the motion control of the robotic arm, when the end effector of the robotic arm contacts the task target, due to The sudden appearance of the mutual contact force between the actuator and the task target will inevitably lead to an error between the final pose of the end effector and the original target pose of the manipulator. The material to be processed will cause damage and affect the correct execution of the task. Therefore, in the prior art, compliant control methods such as impedance control are used, mainly by calculating the expected generalized force under the desired pose and the actual generalized force of the end effector fed back by the sensor. The deviation value of the manipulator is used to correct the end pose of the manipulator and the driving force of the manipulator, so as to realize the adjustment and control of the deviation of the manipulator. This control method has a fast response speed. ,like image 3 As shown, the actual contact force value will still have a peak value much greater than the expected value, which will have an impact on the material, which is not conducive to the processing and handling of the fragile material by the robotic arm

Images