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Dynamic stability control method for operation of humanoid robot arm

A humanoid robot, dynamic and stable technology, applied in the direction of manipulators, manufacturing tools, etc., can solve the problems of high cost, not optimal, impossible to realize, etc.

Active Publication Date: 2014-11-19
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0009] 3. Decomposing momentum to zero is unnecessary and not optimal
Second, although the stability is the strongest when the momentum is decomposed into zero, the cost of achieving it at the same time is the largest, even too large to be achieved

Method used

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  • Dynamic stability control method for operation of humanoid robot arm
  • Dynamic stability control method for operation of humanoid robot arm
  • Dynamic stability control method for operation of humanoid robot arm

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Experimental program
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Embodiment 1

[0062] Such as figure 1 As shown, the embodiment of the present invention provides a robot table tennis hitting balance stability controller. The robot's batting balance and stability controller adopts an intelligent structure. The robot first judges the direction of the table tennis ball and selects the left arm or the right arm as the batting arm (operation arm), and the other arm is the auxiliary arm. Through the movement of the auxiliary arm To ensure the dynamic stability of the whole robot when the hitting arm hits the ball, the motion of the auxiliary arm is generated by the motion of the hitting arm through optimal decomposition of momentum control. The batting robot includes a body 1, a batting arm (operation arm) 2, an auxiliary arm 3, and both the batting arm and the auxiliary arm have 7 degrees of freedom.

[0063] The whole process of hitting the ball of the robot is as follows: first, one arm is selected as the hitting arm according to the incoming direction of ...

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Abstract

The invention discloses a dynamic stability control method for operation of a humanoid robot arm. The method realizes dynamic stability for operation of a robot by optimal decomposed momentum movement of an auxiliary arm and ensures the overall stability of the robot: no jumping, no toppling and no sliding, and additionally guarantees to plan that the angular velocity of the auxiliary arm is not over-limited. The method controls and adjusts the dynamic stability of the robot precisely through an embedded high speed computer according to physical principle, and is precise in calculation, safe and reliable and rapid in response so that the operating arm of the robot can be kept dynamically stable when executing high speed complex intelligent operation in a large scope. And the technical scheme is not aimed to a special robot structure and has wide adaptation, thereby the robot arm not only realizes high speed complex operation in the large scope, but also maintains dynamic stability autonomously.

Description

technical field [0001] The invention relates to the field of robot operation stability control, in particular to a method for dynamic stability control of humanoid robot arm operation with force / torque constraint optimal decomposition momentum. Background technique [0002] It has always been a great dream of mankind to develop highly intelligent robots that can complete specified tasks. After years of unremitting efforts, humanoid robots created by humans have initially realized leg movement functions such as walking, running, and climbing stairs. With the deepening of theoretical research and the advancement of engineering practice, robot technology is developing towards more complex movements, including robot arm operations. However, whether it is leg walking or arm operation, the stable control method of the robot has always been one of the core issues in humanoid robot technology. [0003] At the beginning, the stability control methods of the robot were static stabil...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J13/00
Inventor 张大松熊蓉吴俊褚健
Owner ZHEJIANG UNIV