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Feed-forward control method for robot servo system

A robot system, feed-forward control technology, applied in the direction of electric speed/acceleration control, etc., can solve the problem that it is difficult to ensure the smooth operation of the robot at high speed and high precision

Active Publication Date: 2016-06-15
XI AN JIAOTONG UNIV
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Problems solved by technology

Using the traditional servo control method, it is difficult to ensure the smooth operation of the robot at high speed and high precision

Method used

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  • Feed-forward control method for robot servo system
  • Feed-forward control method for robot servo system
  • Feed-forward control method for robot servo system

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Embodiment Construction

[0078] In order to further illustrate the technical solutions adopted by the present invention, the specific implementation manners of the present invention will be described in detail below in conjunction with the accompanying drawings. This embodiment is only suitable for illustrating and explaining the present invention, and does not constitute a limitation to the protection scope of the present invention.

[0079] Such as figure 1 Shown, a kind of feed-forward control method that the present invention is applied to robot servo system comprises the following steps:

[0080] S100: Based on the equal kinetic energy of the robot system before and after the equivalent, the robot's load equivalent inertia is obtained from the robot's kinematics equation and dynamics equation mathematical model;

[0081] S200: Utilize equivalent inertia The relationship between the change and the position θ, the equivalent inertia of the load is calculated in real time from the position valu...

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Abstract

The invention discloses a feed-forward control method for a robot servo system. The method comprises following steps: analyzing the robot kinematics and dynamics; deducing a mathematical expression of a load equivalent inertia J([theta]) of the robot based on the assumption that kinetic energies before and after equivalence are equal to each other; by use of the relation between the equivalent inertia change and positions, the load equivalent inertia J([theta]) which is calculated in real time with a position value[theta] is converted with a transmission ratio and then is accumulated with a rotational inertia JM of an electrical motor to obtain a total rotational inertia J of a motor shaft; finally, adjusting a current feed-forward coefficient [alpha] by use of the total rotational inertia J of the motor shaft to change the feed-forward value and therefore the servo control effect is increased. By use of the method, there is no need to identify the rotational inertia of the robot load; feed-forward control is adopted to eliminate the influence of inertia change on system dynamic performance; the method is simple and convenient to apply.

Description

technical field [0001] The invention relates to the field of robot servo control, in particular to a feedforward control method applied to a robot servo system. Background technique [0002] As an important part of high-end manufacturing equipment, robots have been widely used in mechanical processing, automobile manufacturing, aerospace and medical services, and have become an important symbol to measure a country's manufacturing level and technological level. [0003] The traditional robot servo control system often adopts a three-closed-loop control method consisting of a current loop, a speed loop and a position loop. In the robot system, since the mechanical characteristics of each joint change with the movement of the robot, the load inertia of the robot also changes with the movement of the robot. Using the traditional servo control method, it is difficult to ensure the smooth operation of the robot at high speed and high precision. Aiming at the influence of load m...

Claims

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Application Information

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IPC IPC(8): G05D13/62
CPCG05D13/62
Inventor 梅雪松宋哲陶涛孔凡峰
Owner XI AN JIAOTONG UNIV
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