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a h based ∞ Filtered Manipulator External Force Estimation Method

A technology of mechanical arm and external force, which is applied in computing, special data processing applications, instruments, etc., and can solve problems such as failure to work normally and expensive force sensors

Active Publication Date: 2017-06-23
ZHEJIANG UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In industrial applications, force sensors are generally installed on the end effector of robots to measure the external force, but force sensors are expensive and may not work properly in high temperature and humid environments

Method used

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  • a h based <sub>∞</sub> Filtered Manipulator External Force Estimation Method
  • a h based <sub>∞</sub> Filtered Manipulator External Force Estimation Method
  • a h based <sub>∞</sub> Filtered Manipulator External Force Estimation Method

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Embodiment Construction

[0140] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0141] A H-based ∞ The filtered mechanical arm external force estimation method is characterized in that the specific steps are as follows:

[0142](1) The signal in the dynamic equation is filtered by an analog low-pass filter, and the dynamic model of the manipulator without explicit acceleration is derived;

[0143] The general form of the dynamic equation of the tandem manipulator is as follows:

[0144]

[0145] q is the vector of the joint angle, M(q) is the inertia matrix of the manipulator, is the centrifugal force and the Coriolis force vector, G(q) is the gravity vector, τ d Indicates the unknown disturbance force, J(q) is the Jacobian matrix of the manipulator, F ext Represents the external force applied to the end of the mechanical arm, τ is the output torque of the joint driver, which is usually calculated...

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Abstract

The invention discloses a mechanical arm outer force estimation method based on H infinite filtration. The method comprises the steps of filtering a signal in a kinetic equation through an analog low-pass filter, deriving a kinetic model which does not contain acceleration; estimating outer force regarded as a state variable of a state-space equation based on the H infinite filtration; designing an IIR (infinite impulse response) digital filter by a dual-linear transformation method, so that application in an actual mechanical arm system is realized.

Description

[0001] (1) Technical field [0002] The invention belongs to H ∞ Application of filtering and digital filtering techniques in the estimation of manipulator external force. [0003] (2) Background technology [0004] In recent years, with the development of robot technology, robots have been applied in many fields of industry and service industry. Robot tasks can be roughly divided into two categories: one is that the robot does not need to be in contact with the environment during operation, and simple position control can solve the problem; the other is that the robot is required to be in contact with the environment, such as grinding, polishing, Trimming, etc., for such tasks, simple position control is no longer competent. This type of task generally has strict requirements on the size of the contact force, because a small position error at the end of the robot may cause a huge contact force, which is easy to cause damage to the robot and the target. To control the contac...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F19/00
Inventor 徐建明丁毅杨金桥倪洪杰臧永灿
Owner ZHEJIANG UNIV OF TECH