A Primary and Secondary Coordinated Control Method of Manipulator Based on Disturbance Observer

Abstract

A disturbance observer and primary-secondary coordination control method for a manipulator. When the manipulator grasps an object, the operating environment is complex, the information of the grasped object is unknown, the lack of sensors and the existence of disturbances in the environment, and the existing force sensor due to Due to the limitations of uncertain contact points and incomplete detection information, the present invention provides a disturbance observer for estimating the disturbance information in the environment, and then using the estimated disturbance amount, combined with the estimated mass, stiffness and surface friction of the grasped object coefficient, estimate the reflex grip force in reflex control, and finally combine the primary mode control method to establish a primary and secondary coordinated control strategy to control the manipulator to stably grasp the object under the disturbance. It replaces the traditional method that can only obtain disturbance information through high-cost sensors. The method is simple and effective, and improves the efficiency of the manipulator's stable and reliable grasping problem. At the same time, the error of the disturbance observer is analyzed, which lays the foundation for accurate analysis of the disturbance in the manipulator's grasping process. base.

Description

technical field [0001] The invention relates to a primary and secondary coordinated control method of a manipulator based on a disturbance observer, which is particularly suitable for operations such as grasping objects by a manipulator in an uncertain environment. Background technique [0002] The manipulator imitates the human hand, and its operating environment is very complex. The objects to be grasped are different. Each object with different mass requires different gripping force, and there are various disturbances in the environment. When a person grasps an object in a disturbed environment, the tactile sense of the human hand senses the sliding signal of the object, and the human brain can estimate an appropriate grip force based on the characteristics of the object, and realize a stable grip of the object through the nervous system. For the manipulator, there are only a few sensors, and it is not as flexible as a human hand. It cannot understand the grasping state o...

AI Technical Summary

Problems solved by technology

The torque sensor is generally large in size and expensive, and it is difficult to fit into a compact manipulator, such as a manipulator

Generally, the manipulator has many force sensors. However, when the manipulator is in contact with the object, the contact point is uncertain, that is, the sensor may not be able to detect whether the manipulator is grasping the object, or the detection information is incomplete.

Due to the lack of sufficient sensor feedback, it is easy to cause the grip force to exceed the expected grip force and cannot be adjusted in time, which may damage the grasped object and more likely cause damage to the manipulator

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