High-accuracy position control method for serial robot

Abstract

The invention provides an improved serial robot control method. According to the improved serial robot control method, a specific mathematical model of a controlled object does not need to be known; the improved serial robot control method has strong robustness and high tracking precision; and moreover, the problems of moment jump and velocity jump, which are caused by deviation of an original pose in a large range, are improved. Strong robustness in the control is ensured by adopting a slip form method on the basis of a torque calculation method; the buffeting problem in the slip form control is eliminated by introducing an exponential approach law; a self-adaptive fuzzy controller is adopted to carry out estimation on a slip form switching gain according to slip form arrival conditions so as to reinforce adaptive capacity of the controlled object for uncertain factors and eliminate the buffeting phenomenon of output torque in the slip form control; and another fuzzy self-adaptive controller is adopted to correct a coefficient of the exponential approach law so as to improve the problems of large moment and velocity jumps, which are caused by deviation of the original pose in a large range.

Description

Technical field [0001] The invention relates to the field of position control of tandem robots, in particular to a method for implementing high-precision position tracking of tandem robots through a fuzzy adaptive sliding mode control method and improving the problems of torque and speed jump when the robot is started. Background technique [0002] Robotics is a high and new technology that integrates mechanism, electronic technology, computer technology, sensor technology, cybernetics, artificial intelligence and bionics. [0003] Robot position control is an important field of robotics. Industrial robot is a complex multi-input multi-output nonlinear system, with strong coupling, time-varying and nonlinear dynamic characteristics, and its control process is complicated. Due to the inaccuracy of robot parameter measurement and modeling, coupled with the uncertainty of robot load and industrial external interference, it is impossible to obtain a complete and accurate object model ...

AI Technical Summary

Problems solved by technology

However, for the control of high-speed and high-precision robots, this method has two obvious disadvantages: one is that it is difficult to ensure that the controlled robot has good dynamic and static quality; the other is that it requires a large amount of control energy.

However, it is worth noting that the large torque and speed jump of the controller when the tracking error changes suddenly brings great disadvantages to the actual robot control, and it is very easy to damage the servo motors of each joint.

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