SCARA robot trajectory tracking control method based on prediction indirect iterative learning

An iterative learning and trajectory tracking technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as inability to online modification, driver torque signal compensation, etc., to improve tracking accuracy, speed up iterative convergence speed, and overcome repeated unknown interference. Effect

Active Publication Date: 2016-07-20
湖州度信科技有限公司
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Problems solved by technology

[0006] The present invention aims at the problem that in engineering practice, after the internal parameters of the AC motor servo driver are set, they generally cannot be modified online, and in most cases the user is not allowed to compensate the torque signal output by the driver, in order to improve the accuracy and anti-interference ability, a SCARA robot trajectory tracking control method based on predictive indirect iterative learning is proposed

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  • SCARA robot trajectory tracking control method based on prediction indirect iterative learning
  • SCARA robot trajectory tracking control method based on prediction indirect iterative learning
  • SCARA robot trajectory tracking control method based on prediction indirect iterative learning

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[0029] In order to make the purpose, technical solution and beneficial effects of the present invention clearer, the present invention will be described in further detail below with reference to the accompanying drawings.

[0030] The present invention provides the structural diagram of the SCARA robot trajectory tracking control method based on predictive indirect iterative learning, such as figure 1shown. The dual closed-loop feedback controller acts on the robot body to track the joint position and joint velocity. On this basis, a predictive iterative learning controller with feedforward function is designed to improve the dynamic performance of the dual closed-loop feedback controller and improve the trajectory Tracking accuracy. According to the joint position data output by the encoder, the predictive iterative learning controller uses the position tracking error at the sampling time t+Δ of the previous running batch to optimize and adjust the given position at the samp...

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Abstract

The invention discloses an SCARA robot trajectory tracking control method based on prediction indirect iterative learning. Aiming at the problem that users are not allowed to compensate torque signals output by a servo drive of an alternating-current motor under most conditions in actual engineering, the SCARA robot trajectory tracking control method based on prediction indirect iterative learning is proposed. Firstly, a double-closed loop feedback controller directly acted on a robot body is designed, and includes a P type position closed loop and a PI type speed closed loop; and then, a prediction iterative learning controller (A-ILC) with a feedforward effect is designed, and a control effect at the sampling time t in next operation is adjusted by using error output information at the sampling time t+delta in previous operation batches. Compared with a proportional differential iterative learning controller (PD-ILC), the A-ILC is faster in iterative convergence speed and higher in tracking precision; and compared with an A-ILC without the feedforward effect, the A-ILC with the feedforward effect can eliminate external disturbance more quickly and effectively.

Description

technical field [0001] The invention belongs to the field of high-precision track tracking control of a SCARA robot, and in particular relates to a track tracking control method of a SCARA robot based on predictive indirect iterative learning. Background technique [0002] Robot technology is a high-tech that integrates multiple disciplines such as mechanism, electronic technology, computer technology, sensor technology, cybernetics, and artificial intelligence. Among them, the design of the robot control system involves servo drive, motion control, computer software and so on. Among them, the SCARA robot is a complex multi-input and multi-output system with time-varying, strong coupling and nonlinear dynamic characteristics, and has been widely used in actual production, such as cutting, welding, gluing, etc., these applications are A fixed trajectory needs to be tracked repeatedly with high precision. The trajectory tracking control of the robot is to make the state vari...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/163
Inventor 白瑞林严浩
Owner 湖州度信科技有限公司
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