Impedance control method for flexibility joint mechanical arm based on connection and damping configuration
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A flexible joint and impedance control technology, applied in the field of manipulator control and impedance control of flexible joint manipulators, can solve problems such as inability to achieve stable control and large residual vibration, and achieve convenient adjustment of control parameters, low hardware requirements, and computational complexity. small effect
Active Publication Date: 2015-06-24
HARBIN INST OF TECH
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[0005] The purpose of the present invention is to propose a method for impedance control of a flexible joint manipulator based on connection and damping configuration, in order to solve
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specific Embodiment approach 1
[0029] Embodiment 1: The impedance control method of a flexible joint manipulator based on connection and damping configuration described in this embodiment includes the following steps:
[0030] Step 1. Obtain the dynamics and kinematics parameters of the flexible joint manipulator through the CAD three-dimensional model, including geometric parameters, mass, and moment of inertia;
[0031] Step 2. Obtain the key parameters of the flexible joint through parameter identification, including joint stiffness matrix K, joint damping matrix D, and joint friction torque τ f ;
[0032] Step 3. Establish the dynamic equation of the flexible joint manipulator, and rewrite it as a port control Hamiltonian (port control Hamiltonian, PCH) state equation;
[0033] Step 4. Based on the joint stiffness matrix K and joint damping matrix D obtained in step 2, a gravity and external force compensation algorithm based on the motor position is established;
[0034] Step 5. Calculation of the gr...
specific Embodiment approach 2
[0038] Embodiment 2: The difference between this embodiment and Embodiment 1 is that the dynamic equation of the flexible joint manipulator described in step 3 is established, and it is rewritten as a Port Control Hamiltonian (port control Hamiltonian, PCH) state The specific process of the equation is:
[0039] The dynamic equation of the flexible joint manipulator based on the spring damping model is:
[0040] M ( q ) q · · + C ( q , q · ) + g ...
specific Embodiment approach 3
[0076] Embodiment 3: The difference between this embodiment and Embodiment 1 or 2 is that in step 4, based on the joint stiffness matrix K and joint damping matrix D obtained in step 2, a gravity and external force compensation algorithm based on the motor position is established, The specific process is as follows:
[0077] F τ = F g ( x ) + Λ ( x ) x · · d + μ ( x , x · ) x · - Λ ( x ) Λ x - 1 ...
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Abstract
The invention provides an impedance control method for a flexibility joint mechanical arm based on a connection and damping configuration, and belongs to the technical field of robot controlling. The problem in a traditional mechanical arm control method that during the flexibility joint mechanical arm control process, due to the fact that the residual oscillation is large, the aim of stable control cannot be achieved is solved. The technical points are that according to a CAD three-dimensional model, a kinetic parameter and a kinematic parameter of the flexibility joint mechanical arm are obtained; according to the parameter identification, a key parameter of a flexibility joint is obtained; a kinetic equation of the flexibility joint mechanical arm is established; a gravity compensation algorithm and an external force compensation algorithm based on the motor position are established; a gravity compensation value and an external force compensation value of the mechanical arm are calculated and obtained; a minimum Hamiltonian function value on the expectation balance position of motor position information is calculated and obtained; an expectation connection matrix and a damping matrix in the impedance control are calculated; an impedance control rule of the flexibility joint based on the connection matrix and the damping matrix are obtained. The impedance control method for the flexibility joint mechanical arm based on the connection and the damping configuration can be used for controlling service robots, medical robots and space robots.
Description
technical field [0001] The invention relates to a control method of a manipulator, in particular to an impedance control method of a flexible joint manipulator based on connection and damping configuration, and belongs to the technical field of robot control. Background technique [0002] With the aging of the population and the shortage of labor resources and other phenomena, there is an urgent need for robotic arms to replace humans to perform some operations. In recent years, with the rapid development of robotic arm technology, miniaturized and lightweight robotic arms have been gradually used in advanced service fields, such as space exploration, medical and service industries. Compared with industrial robotic arms, this type of robotic arm has higher requirements for dexterity and safety, which are mainly reflected in: light weight, high load / weight ratio, rich sensory systems, etc. Harmonic reducers are widely used in the design of light manipulator joints due to the...
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