Mechanical arm control system based on variable-stiffness elastic driver and control method of mechanical arm control system

Abstract

The invention discloses a mechanical arm control system based on a variable-stiffness elastic driver. The mechanical arm control system comprises a real-time computer control system, a data acquisition system, a driving end, a stiffness adjusting mechanism and an output flange. The invention further discloses a mechanical arm control method based on the variable-stiffness elastic driver. According to the mechanical arm control system disclosed by the invention, the structure is compact, the universality is high, the stiffness is continuous and adjustable, and the external impact fore can be effectively reduced; by utilization of the own smooth feature of the mechanical arm control system, a joint connection rod is protected, and then all parts of a whole robot are well protected; in a control process, the nonlinear problem caused by an elastic element in the elastic driver, namely the influence, caused by the variable stiffness, on the performance, as well as the robot dynamics and the driver dynamics are considered; through the construction of a novel high-dimensional integral Lyapunov-Krasovskii functional on a closed-loop system, the controller design procedure is simplified, and the overall stability of the closed-loop system is guaranteed; and the mechanical arm control system has the characteristics of being high in stability and strong in interference-resistant capability.

Description

technical field

[0001] The invention relates to a control system in the technical field of robots, in particular to a control system of a mechanical arm based on a variable stiffness elastic driver and a control method thereof. Design the relevant control algorithm to control the mechanical arm through the control module, and finally realize the joint elastic drive with adjustable stiffness.

[0002] technical background

[0003] With more and more opportunities for robots to come into contact with people or the environment during operation, there is an urgent need for a safe robot system that can be widely used in situations where robots interact with people or the environment and can ensure the safety of workers and reduce damage to surrounding equipment and the environment. In the research of joint robots such as industrial robot arms, bionic multi-legged robots, and rehabilitation medical prostheses, the design of robot joints generally adopts the drive mode of rigid con...

Examples

Embodiment

[0065] Such as figure 1 As shown, the mechanical arm control system based on the variable stiffness elastic driver includes a real-time computer control system, a data acquisition system, a driving end, a stiffness adjustment mechanism and an output flange, and is characterized in that: the driving end is used to provide joint active force, The stiffness adjustment mechanism is connected to the driving end for transmitting the active force of the driving end to the output flange, and the stiffness adjustment mechanism realizes the stiffness adjustment of the joint by changing the effective working length of the spring leaf; The drive end shown is connected to the real-time computer control system through the CAN bus analyzer, receives the control quantity generated by the computer in each control cycle, and performs real-time control on the joints to correct the position and attitude of the joints; the output of the data acquisition system The terminal is connected to the real...

technical field

[0001] The invention relates to a control system in the technical field of robots, in particular to a control system of a mechanical arm based on a variable stiffness elastic driver and a control method thereof. Design the relevant control algorithm to control the mechanical arm through the control module, and finally realize the joint elastic drive with adjustable stiffness.

[0002] technical background

[0003] With more and more opportunities for robots to come into contact with people or the environment during operation, there is an urgent need for a safe robot system that can be widely used in situations where robots interact with people or the environment and can ensure the safety of workers and reduce damage to surrounding equipment and the environment. In the research of joint robots such as industrial robot arms, bionic multi-legged robots, and rehabilitation medical prostheses, the design of robot joints generally adopts the drive mode of rigid con...

Examples

Embodiment

[0065] Such as figure 1 As shown, the mechanical arm control system based on the variable stiffness elastic driver includes a real-time computer control system, a data acquisition system, a driving end, a stiffness adjustment mechanism and an output flange, and is characterized in that: the driving end is used to provide joint active force, The stiffness adjustment mechanism is connected to the driving end for transmitting the active force of the driving end to the output flange, and the stiffness adjustment mechanism realizes the stiffness adjustment of the joint by changing the effective working length of the spring leaf; The drive end shown is connected to the real-time computer control system through the CAN bus analyzer, receives the control quantity generated by the computer in each control cycle, and performs real-time control on the joints to correct the position and attitude of the joints; the output of the data acquisition system The terminal is connected to the real...

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