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
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[0037] Examples:
[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 control system is based on the position-based impedance control method. By measuring the current of the servo motor and the rotation position of the joint, the RBF neural network algorithm is used to predict the interaction force between the robot and the environment. The input energy balance state, and the output processed by the energy balance correction algorithm is the actual force of the control system Sensing, the control system sets the assembly track position accordingly to form a servo motor control signal, so as to control the servo motor to realize the soft control of force position.
[0040] The control system includes motion controllers, drives and motors, as well as related software and algorithms,
[0041] Before starting work, it is necessary to calibrate the torque of each joint to obtain...
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