An incremental adaptive control method for industrial robots
An industrial robot and adaptive control technology, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve the problems of slow response speed, poor tracking performance, slow convergence speed, etc., to overcome defects and improve tracking Performance, the effect of improving the convergence speed and calculation accuracy
Active Publication Date: 2019-12-03
ZHEJIANG UNIV OF TECH
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[0024] In order to overcome the shortcomings of the existing integral adaptive controller of the industrial robot control method, such as slow convergence speed, slow response speed, and poor tracking performance, the present invention provides an incremental automatic controller based on a continuous dynamic model for industrial robots. adaptive control method
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[0081] The present invention will be described in detail below in conjunction with the accompanying drawings.
[0082] refer to figure 1 - Figure 8, a method for incremental adaptive control of an industrial robot, the method comprising the following steps:
[0083] Step 1. Create a dynamic model of the robot
[0084] 1.1 Use such as figure 2 For the two-joint robot shown, the dynamic model of the industrial robot is as follows
[0085]
[0086] Among them, q is the joint angle vector, is the joint velocity vector, τ is the control input torque.
[0087] Robot inertia matrix H(q) is H=[H 11 h 12 ;H 21 h 22 ],
[0088] h 11 =a 1 +2a 3 cos q 2 +2a 4 sin q 2 , H 12 =H 21 =a 2 +a 3 cos q 2 +a 4 sin q 2 , H 22 =a 2 ;
[0089] Centripetal and Coriolis force matrices for
[0090]
[0091]
[0092] m 1 =1,l 1 =1,m e =2,δ e =30°, I 1 =0.12,l c1 =0.5, I e =0.25, l ce =0.6;
[0093] Step 2. Provide a parameterized expression of the dynami...
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The invention proposes an industrial robot increment self-adaption control method, comprising: establishing a dynamic model for the industrial robot; providing the parameterized expression for the error dynamic characteristics; designing an increment self-adaption controller and an increment self-adaption rule; and obtaining the closed-loop tracking performance of the increment self-adaption control system. According to the invention, the influence caused by the discretization of an industrial robot's continuous system model can be avoided; the increment self-adaption rule can improve the convergence speed and calculation accuracy for parameter estimation and overcome the defects of the integral self-adaption law so as to improve the responding speed and the tracking performance of a mechanical arm control system.
Description
technical field [0001] The invention relates to an adaptive control method of an industrial robot, in particular, provides an adaptive control method for online estimation of unknown constant parameters with an incremental adaptive law in a continuous time controller. Background technique [0002] Industrial robot is a typical nonlinear control system, and its control task is mostly the tracking of a given trajectory. In order to improve the tracking control performance of the robot, it is necessary to deal with the uncertainties in the dynamic characteristics of the robot, usually including non-parametric uncertainty and parametric uncertainty. There are two main approaches to control system design: the design approach based on discrete system models and the design approach based on continuous system models. [0003] The controller provided by the design approach based on the discrete system model is discrete and can be directly realized by computer control technology. Ho...
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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 孙明轩李鹤李杏
Owner ZHEJIANG UNIV OF TECH