Control algorithm used for mechanical arm with single-degree-of-freedom flexible terminal

Abstract

The invention discloses a control algorithm used for a mechanical arm with a single-degree-of-freedom flexible terminal. The algorithm comprises the steps that firstly, a world coordinate system, a contact force surveying coordinate system and a motion coordinate system are established, and the flexibility of a whole system is the sum of the flexibility of the mechanical arm, the flexibility of a tool terminal and the flexibility of an environment; and the relation between the motion speed and the contact force of the terminal of the mechanical arm is established through the flexibility of the system, the motion speed of the terminal of the mechanical arm is obtained through the contact force f needing to be controlled, the rotation speeds of all joint angles of the mechanical arm are obtained through solving by means of inverse kinematics, the mechanical arm is controlled to move, and the contact force is made to reach a stable value through a PD controller. According to the control algorithm, advantages of traditional passive flexibility control and active flexibility control are combined, and accordingly good interaction control over the mechanical arm and the environment is achieved.

Description

technical field [0001] The invention relates to a control algorithm of a manipulator used for a single-degree-of-freedom flexible end, and belongs to the technical field of manipulator structure and control. Background technique [0002] Robotic arms are widely used in machinery manufacturing, aerospace, medicine, atomic energy and other fields, and play a major role in automated production. The movement of the robotic arm can be divided into free movement and force-bearing movement. Free movement is generally used in painting, welding, palletizing and other work. In such an environment, the robotic arm does not directly contact the external environment, so the control only needs to Considering the path planning problem, the current research and application in this area are relatively mature. For the force movement, that is, the interaction between the robot arm and the environment during the movement, it needs to contact the outside world to complete the specified function...

AI Technical Summary

Problems solved by technology

In addition, passive compliance control is difficult to precisely control the position due to the deformation of the elastic member, so it is generally used in occasions with relatively low requirements

[0004] Active compliance control is to fully reflect the force in the control system, and apply control algorithms to offset the two-way error of position and force, such as impedance control, stiffness control, force / position hybrid control, etc., but often requires open torque control of the manipulator, which is At present, it is difficult for the mechanical arm on the market, and the torque control needs to be programmed from the underlying controller, which greatly increases the complexity of the control algorithm.

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