Control method and robot

Abstract

The embodiment of the invention relates to the field of robots, and discloses a control method and a robot. The control method comprises the steps that a first dynamic model of the robot is obtained,wherein the first dynamic model is used for showing the relationship between the movement parameters and the feed-forward torque of a joint, and the parameters of the first dynamic model are known; the reference movement parameters of the joint are substituted into the first dynamic model, and the feed-forward torque of the joint is obtained through calculation, wherein the movement parameters comprise the joint angle, the joint angular velocity and the joint angular acceleration; according to the feed-forward torque of the joint, the current joint torque of the joint is determined; accordingto the current joint torque of the joint, the robot is controlled to move. By means of the embodiment, the problem that the robot shakes at the power-on moment and in the moving process is alleviated,and the control precision of a robot system is improved.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of control, and in particular to a control method and a robot. Background technique [0002] A robot is a common name for an automatic control machine and is the product of advanced integrated cybernetics, mechatronics, computers, materials and bionics. Today, the application of robots is becoming wider and wider, extending from 95% of industrial applications to non-industrial applications in more fields, such as medicine, agriculture, construction and even military. The control method of the robot is generally a position feedback control method. The position feedback control mode refers to the feedback control based on the deviation between the actual position of the robot and the expected position, and is a semi-closed-loop control mode. [0003] The inventors have found that there are at least the following problems in the prior art: the position feedback control method has som...

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Problems solved by technology

[0003] The inventors have found that there are at least the following problems in the prior art: the position feedback control method has some shortcomings, such as only after the position deviation is formed, the control effect changes accordingly, that is, the control effect lags behind the interference effect

However, the vibration problem caused by mechanical factors and controller performance cannot be solved by rod length calibration and position feedback control.

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