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Control method for robot

A control method and robot technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of unimaginable computational complexity and large amount of calculation, and achieve the effect of reducing the amount of calculation and ensuring stability

Active Publication Date: 2018-02-02
深圳力合精密装备科技有限公司
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  • Abstract
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  • Application Information

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Problems solved by technology

[0003] The most commonly used dynamic models of space robots are the Lagrange function and the newton-Euler method, but even if these two models are improved, the amount of calculation is still very large
In addition, the traditional control methods of space robots include PID control, calculated moment control method, robust adaptive control method, adaptive neural network control method and other control methods developed in recent years. These control methods have corresponding applicable occasions and Advantages and disadvantages
But taking multiple degrees of freedom into account, such as considering a humanoid robot with more than 30 degrees of freedom, the computational complexity is unimaginable

Method used

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Embodiment Construction

[0016] The present invention will be further described below with reference to the accompanying drawings. It should be pointed out that these descriptions are exemplary rather than limiting the present invention.

[0017] figure 1 A robot in one embodiment according to the invention is shown; it moves in a horizontal plane with no gravity constraints. As shown, the robot has two arms, a left arm 1 and a right arm 2 . Each arm has its own base, three joints, and three links. Three of the joints and three links are connected alternately, the first joint connects the base to the first link, and the third link connects the end effector. The end effector can be various manipulators.

[0018] Taking the right arm as an example, for the i-th connecting rod (i=1,2,3), its mass is mi kg, its length is li m, its center of mass is at di m from joint i, and its center of mass is The moment of inertia is Ioi kg·m2. At the same time, for the i-th joint, its moment of inertia is Imi kg...

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Abstract

The invention discloses a control method for a robot. The robot comprises at least one arm. Each arm comprises a bottom, joints, connection rods and an end executor. The control method comprises the steps that the arms are decomposed with the joints and the connection rods as basic units so that joint coordinate systems and connection rod coordinate systems can be obtained; corresponding generalized velocities of each joint coordinate system and each connection rod coordinate system are calculated; the generalized force subjected by each connection rod is calculated; according to the calculated generalized force borne by each connection rod, the generalized force needing to be applied to each joint is calculated from the corresponding end executer to the corresponding bottom; the moment offorce to be applied to each joint is worked out; and the robot is controlled through the calculated moment of force. By adopting the control method, the calculated amount in real-time control can beeffectively reduced, and the real-time control purpose is achieved.

Description

technical field [0001] The invention relates to a control method for a robot, in particular to a control method for a multi-arm multi-joint space robot. Background technique [0002] With the development of aerospace technology, the space for space robots to play a role is getting bigger and bigger. However, due to the complexity of the space robot, it is basically difficult to obtain a complete and accurate dynamics model; in addition, the amount of calculation of the existing dynamics model explodes with the increase of the degree of freedom, which has a great impact on real-time simulation and control. had a great impact. Therefore, precise control has always been a difficult point in the field of robotics. [0003] The most commonly used space robot dynamics models are the Lagrange function and the newton-Euler method, but even if these two models are improved, the amount of calculation is still very large. In addition, traditional space robot control methods include ...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1602
Inventor 陶彦博王学谦夏博
Owner 深圳力合精密装备科技有限公司
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