Robot control method with automatic parameter optimization function, control device and robot

Abstract

The invention provides a robot control method with an automatic parameter optimization function, a control device and a robot. The control method comprises the following steps of establishing a kinetic model of a driving joint of the robot; setting a servo parameter optimization criterion, and determining a per-unit reference value of a servo parameter of the driving joint according to a dynamic model of the driving joint; calculating and updating the load inertia corresponding to each driving joint in the current state according to the state of the robot; calculating the optimal value of the servo parameter of each driving joint according to the updated load inertia corresponding to each driving joint in the current state and the set servo parameter per unit reference value of each driving joint; and synchronously downloading the optimized values of the servo parameters of the driving joints to servo drivers of the driving joints in real time so as to control the driving joints. The vibration amplitude of the robot during operation can be remarkably restrained, and meanwhile the requirement for the response speed is considered.

Description

technical field [0001] The present application belongs to the technical field of robot control, and specifically relates to a robot control method, a control device and a robot with automatic parameter optimization. Background technique [0002] As a kind of industrial robot, the mechanical arm is a serial multi-axis motion control system composed of a group of driving joints connecting a group of supporting rods. With the characteristics of programmability and versatility, industrial robots are playing an increasingly important role in the field of modern production and manufacturing. Their comprehensive advantages in speed, precision, task flexibility and other indicators are unmatched by conventional equipment. [0003] However, as the application scenarios have higher and higher requirements for speed, precision and load, the insufficiency of some inherent properties of the robot structure has become the main bottleneck for the further improvement of the robot's performa...

AI Technical Summary

Problems solved by technology

At present, the main technologies used to reduce vibration include command shaping, torque feedforward, filter and observer, etc., but these technologies can only eliminate part of the vibration under specific conditions, or the control robustness is poor and cannot adapt to a large range. sports occasions

Although there is a servo gain optimization vibration suppression method in the prior art, the vibration suppression method in the prior art simply reduces the gain value with a specific coefficient. Although it can reduce part of the vibration amplitude, it also reduces the response speed of the system.

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