Dual-arm robot movement control method under non-linear condition of driver

Abstract

The invention discloses a dual-arm robot movement control method under a non-linear condition of a driver. The method comprises the following steps that a track generating module outputs an expected movement track of a robot; the expected movement track is subtracted from the practical movement track to generate an error signal; the error signal is input into a dual-robot controller to generate a control torque signal; a smooth dead zone inverse module corrects the control torque signal. The corrected control torque signal is input into a dual-arm robot system to control a mechanical arm to operate object movement; the data of the dual-arm robot system is read. The invention also discloses a device for controlling object grabbing movement of the dual-arm robot under the condition that an input dead zone condition is not determined. According to the embodiment of the invention, the control torque signal of the dual-arm robot can be corrected, and the control precision of the dual-arm robot is improved.

Description

technical field [0001] The invention relates to the field of robots, in particular to a motion control method and device for a double-arm robot under the nonlinear condition of a driver. Background technique [0002] With the development of robot technology, the coordinated operation tasks of dual-arm and multi-arm robots have become an important direction of robot development. When the two arms of the dual-arm robot grasp the object at the same time, the robotic arm will interact with the object and generate internal force between the end effectors of the two arms and the object. Due to the interaction of the manipulators and the existing internal forces, the difficulty of controller design for a dual-arm robot is higher than that of a single manipulator. In the design scheme of the dual-arm robot coordination controller, decentralized coordination control is a common dual-arm robot controller design scheme. This scheme independently designs controllers for each robot arm...

AI Technical Summary

Problems solved by technology

The width of the dead zone can represent its insensitivity. If the width is too large, the control signal will not be able to drive the robot system normally, which will seriously affect the control accuracy, reduce the performance of the controller, and even lead to system instability.

[0004] In the actual system, the parameters of the dead zone are uncertain, and it is difficult to measure directly. The existing robot control system generally treats this type of input dead zone as an external disturbance, and rarely considers eliminating the influence of the input dead zone in the controller. method

The existence of the input dead zone will affect the controller's control of the servo motor, reduce the control accuracy of the dual-arm robot, and make it difficult for the robot to accurately control the position of the object

In operations that require high precision, it may even cause deformation and damage to the operated object, affecting the stability of the dual-arm robot system

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