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Scara robot trajectory tracking control method based on predictive indirect iterative learning

An iterative learning and trajectory tracking technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problem of driver torque signal compensation, cannot be modified online, etc., to improve tracking accuracy, speed up iterative convergence speed, and eliminate external interference. Effect

Active Publication Date: 2018-06-29
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 predictive indirect iterative learning
  • Scara robot trajectory tracking control method based on predictive indirect iterative learning
  • Scara robot trajectory tracking control method based on predictive indirect iterative learning

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Embodiment Construction

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

[0030] The present invention provides a structure diagram of a SCARA robot trajectory tracking control method based on predictive indirect iterative learning, such as figure 1 Shown. The dual closed-loop feedback controller acts on the robot body to track the joint position and joint speed. 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 of the previous run batch at the sampling time t+Δ to optimize and adjust the position setting of the current run at th...

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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 trajectory tracking control of SCARA robots, and specifically relates to a SCARA robot trajectory tracking control method based on predictive indirect iterative learning. Background technique [0002] Robotics is a high and new technology that integrates mechanism, electronic technology, computer technology, sensor technology, cybernetics, artificial intelligence and other disciplines. The design of the robot control system involves servo drives, motion control, computer software, etc. Among them, the SCARA robot is a complex multiple-input multiple-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 all Need to track a fixed trajectory repeatedly with high precision. The trajectory tracking control of the robot means that the position, speed and other state v...

Claims

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Application Information

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Patent Type & Authority Patents(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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