1results about How to "Enable real-time estimation" patented technology

This invention discloses a nonlinear motion control method for a hydraulic robotic arm based on precise dynamic friction compensation. The method includes: establishing a system dynamic parameterization and improved dynamic friction model for the multi-joint hydraulic robotic arm under dynamic model constraints; designing an improved LuGre friction model compensation term; designing an adaptive robust controller, inputting the reference trajectory into the controller and the compensation term, the controller outputting a dynamic parameter estimation matrix into the compensation term, the compensation term outputting a friction force compensation term into the controller, the controller outputting the valve control voltage to the robotic arm for control, and the robotic arm providing feedback on its state, thereby achieving nonlinear motion control of the robotic arm. This invention enables real-time estimation of the low-speed dynamic friction force of a multi-joint hydraulic robotic arm, solving the problem of difficulty in describing the nonlinear dynamics of friction force in actual low-speed robotic arm operation. While ensuring the overall stability of the control system, it reduces the tracking error of the robotic arm's end effector and improves control performance.