Mechanical shoulder joint position control method with dynamic friction compensation

Abstract

The invention relates to a mechanical shoulder joint position control method with dynamic friction compensation, which is realized through a global control unit and a local control unit. The global control unit is used for tracking the trajectory of a mechanical shoulder joint in a global large range, the trajectory tracking is realized through a PD (Proportional Differential) controller widely applied in the mechanical shoulder joint, and the input vector of the PD controller comprises the position error of the mechanical arm joint and the change rate of the position error; and the local control unit is used for completing dynamic friction compensation in a local small range, the dynamic friction compensation is realized through a five-layer autoregressive wavelet neutral network controller having an observation layer, and the input vector of the autoregressive wavelet neutral network controller comprises the expected position, the expected speed and the actual position of the mechanical shoulder joint. The actual speed of the mechanical shoulder joint required in the autoregressive wavelet neutral network controller can be calculated through the observation layer. The mechanical shoulder joint position control method provided by the invention can be realized by only installing one position sensor in the mechanical shoulder joint without installing a speed sensor.

Description

technical field [0001] The present invention relates to the technical field of robot automatic control, in particular, to a positioning control method of a mechanical arm joint with a dynamic friction compensation function, through which the designed control method realizes high-precision position tracking of the mechanical arm joint while completing dynamic friction compensation . Background technique [0002] With the rapid development of industrial automation and robot technology, articulated manipulators play an irreplaceable and important role in many engineering and technical fields such as assembly line assembly, spraying, cutting, and space operations. When the manipulator performs the operation task, the positioning of the claw at the end is realized through the combined action of multiple manipulator joints. From the point of view of robot kinematics, when the positioning accuracy of the joints of the manipulator is not high, especially when the connecting rods be...

AI Technical Summary

Problems solved by technology

[0008] Aiming at the outstanding dynamic friction problem when the joints of the manipulator are running at low speeds, the present invention proposes a positioning control method for the joints of the manipulator with dynamic friction compensation function, so that the joints of the manipulator can operate under different working environments (such as load changes, lubrication conditions, etc.) determination, temperature difference change, pressure difference change, etc.) can complete high-precision positioning, thereby improving the overall positioning accuracy of the multi-joint manipulator

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