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A force-coordinated compliant control method for a multi-arm robot

A compliant control and robot technology, applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., can solve the problems that the accuracy of the position and posture of the manipulator can not be guaranteed, reduce the performance of multi-manipulator coordination control, etc., to ensure the safety and stability of the system , Ensure synchronous compliance and achieve the effect of system force control accuracy

Active Publication Date: 2020-12-25
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Description
  • Claims
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Problems solved by technology

Especially in the case of multi-arm force coupling to complete the operation task, the multi-arm force coordination control becomes more important. The multi-arm force coordination control can effectively guarantee the coordination relationship of the force, but only the force coordination relationship, the pose accuracy of the manipulator will not be guaranteed. , which reduces the coordinated control performance of the multi-manipulator

Method used

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  • A force-coordinated compliant control method for a multi-arm robot
  • A force-coordinated compliant control method for a multi-arm robot
  • A force-coordinated compliant control method for a multi-arm robot

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Embodiment Construction

[0047] In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments:

[0048] Such as figure 1 As shown, the robot has N mechanical arms T={t 1 , t 2 ,...,t i ,...,t N}, 1i represents the i-th robotic arm, and the control method specifically includes the following steps:

[0049] Step S10, obtain the expected contact force (moment) at the end of the mechanical arm from the operation task of the mechanical arm;

[0050] Step S11, measure the actual contact force of the mechanical arm at time t through the six-dimensional torque sensor installed at the end of the mechanical arm, that is, the actual contact force at the end of the mechanical arm;

[0051] Step S12, obtain the desired pose of the end of the manipulator from the operation task of the manipulator;

[0052] Step S1...

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Abstract

The invention discloses a compliance control method for a force-coordinated multi-arm robot and belongs to the field of robot control. The force and posture coordination control relationship among multiple arms is established by utilizing an impedance control method, and meanwhile, in order to ensure force coordination accuracy, a force synchronous controller among the multiple mechanical arms isestablished by adopting a posture synchronous control thought; according to the contact force relations between the mechanical arms and an object as well as between the mechanical arms, a synchronousimpedance controller with absolute force errors, synchronizing force errors and bonding force errors as input is designed, so that the coordination compliance character of a force-based multi-arm robot system is achieved, endpoint force synchronization compliance of the multi-arm robot is ensured, and the coordination control performance of the multiple mechanical arms is improved.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a force-coordinated multi-arm robot compliance control method. Background technique [0002] When a multi-arm robot completes an operation task under force coupling, it is not only necessary to ensure the safety of the manipulator, but also the safety of the operating object. Single-arm compliant control can ensure the safety of the terminal operation of the manipulator, but when multiple machines When the arm operates the object at the same time, due to the error between the expected contact force and the actual contact force between the manipulator and the operating object, the object may be under too much or too small force, resulting in the safety of the object will not be guaranteed. [0003] In recent years, with the growing demand for force control, the robot's operational task requirements have gradually developed from a single position control requirement to a simultaneous d...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1633B25J9/1635B25J9/1638B25J9/1651B25J9/1682
Inventor 张子建董洋洋刘嘉宇
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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