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Robot force position compliant control method based on intelligent algorithm

An intelligent algorithm and compliant control technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as inaccurate robot models and inability to obtain satisfactory control quality, so as to improve anti-interference, accuracy, and fast response Effect

Active Publication Date: 2015-05-20
SUZHOU HUIKONG TECH
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  • Abstract
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AI Technical Summary

Problems solved by technology

[0005] Due to the imprecise model of the robot itself and various interferences, it is often impossible to obtain satisfactory control quality

Method used

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  • Robot force position compliant control method based on intelligent algorithm
  • Robot force position compliant control method based on intelligent algorithm

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Effect test

Embodiment

[0038] Such as figure 1 As shown, the robot force-position compliance control method based on intelligent algorithm, the control method is as follows:

[0039] The position-based impedance control method of the control system measures the current of the servo motor and the rotational position of the joint, and uses the RBF neural network algorithm to predict the interaction force value between the robot and the environment. The energy balance state is input, and the output processed by the energy balance correction algorithm is the actual force of the control system. Sensing, the control system sets the position of the assembly track based on this, and forms a servo motor control signal, so as to control the servo motor and realize the soft control of force and position.

[0040] The control system includes motion controllers, drivers and motors, as well as related software and algorithms,

[0041] Before starting work, it is necessary to calibrate the torque of each joint to...

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Abstract

The invention discloses a robot force position compliant control method based on an intelligent algorithm, and belongs to the field of mechatronics. The control method includes the following steps: a control system comprehensively works out an interaction force value of the combination position of the tail end of a mechanism arm and a workpiece by measuring currents of joint servo motors and joint rotation positions of a robot based on a position impedance control mode; an interaction force value of the robot and the environment is predicted through the adoption of a prediction algorithm and is compared with the interaction force value obtained through calculating, output processed with an energy balance correction algorithm is actual force perception of the control system, the control system accordingly conducts assembly robot track tail end position setting, control signals of the joint servo motors are accordingly formed to be used for controlling the servo motors, and therefore force-position compliant control is achieved. By means of the robot force position compliant control method, during operation such as assembling, machining and polishing, the robot is required to be in contact with an operation object in the working process, the contact force is kept within a set section in the working process, and the good working effect is obtained.

Description

technical field [0001] The invention belongs to the field of mechatronics, and in particular relates to a robot force-position compliance control method based on an intelligent algorithm. Background technique [0002] With the advancement of science and technology and the continuous development of the manufacturing industry, the market demand for grinding and polishing continues to grow. The grinding and polishing robot can realize high-efficiency and high-quality automatic grinding, which provides an effective solution for replacing manual grinding. [0003] The core of the grinding robot is the force control technology, which ensures the grinding quality by controlling the processing trajectory and the force at the end of the grinding tool, that is, both the position and force of the robot must be controlled. At present, relatively mature position-controlled robots have been developed at home and abroad, and a lot of research has been carried out on force-controlled robot...

Claims

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Application Information

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IPC IPC(8): B25J13/08B25J9/18
Inventor 谢小辉孙立宁
Owner SUZHOU HUIKONG TECH
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