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Robot joint self-adaption control method of variable-rigidity serial connection elastic driver

A robot joint and adaptive control technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of increasing difficulty in control algorithm design, complex dynamic modeling and control, and immature control technology. Achieve the effect of improving energy utilization efficiency, solving the problem of dynamic parameter uncertainty, and improving control accuracy and stability

Active Publication Date: 2018-09-14
UNIV OF SCI & TECH OF CHINA
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Problems solved by technology

However, the introduction of VSEA elastic elements will change the structure of the entire flexible actuator control system, complicate dynamic modeling and control, increase the difficulty of corresponding control algorithm design, and make the control effect of existing control methods worse. Mature

Method used

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  • Robot joint self-adaption control method of variable-rigidity serial connection elastic driver
  • Robot joint self-adaption control method of variable-rigidity serial connection elastic driver
  • Robot joint self-adaption control method of variable-rigidity serial connection elastic driver

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specific Embodiment

[0070] See attached Figure 1-5 , a robot joint adaptive control method based on VSEA (Variable Stiffness Linked Elastic Actuator), comprising the following steps:

[0071] Step 1: Modeling the robot joint based on VSEA, obtaining the dynamic model of the robot joint, and determining the model parameters.

[0072] Step 2: Mathematically modeling the VSEA variable stiffness system to obtain a mathematical model of the VSEA system stiffness variation.

[0073] Step 3: Plan the trajectory of the robot joints to obtain the working frequency of the robot, and adjust the system stiffness based on the natural dynamics according to the mathematical model of the VSEA system stiffness change, so that the system working frequency is consistent with the system anti-resonance frequency.

[0074] Step 4. According to the dynamic model of the robot joint, the Lyapunov equation is established, the adaptive controller and the adaptive rate are derived, and its stability is proved.

[0075] S...

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Abstract

The invention discloses a robot joint self-adaption control method of a variable-rigidity serial connection elastic driver; and based on the natural kinematics, and according to the energy consumptionsuboptimum rule under antiresonant frequency, the antiresonant frequency is calculated and the joint rigidity is adjusted to optimize the system energy consumption. On the basis of obtaining the optimal joint rigidity through optimization of the energy consumption, a motor model and a VSEA kinetics model are respectively built; a robot joint self-adaption control method based on VSEA is providedaccording to the kinetics model; and the approximation stability of the control method is proved. Compared with a traditional control method, the method can change controller parameters through changing self-adaption rules, so that uncertain items in the kinetics model are estimated and compensated in real time, the kinetics parameter uncertainty problem incapable of being solved by the traditional control method is effectively solved, the tracking error is reduced, the control precision and the stability are improved, the energy consumption can be greatly reduced, and the energy utilization efficiency is improved.

Description

technical field [0001] The invention relates to a robot joint control technology, in particular to a robot joint self-adaptive control method of variable stiffness series elastic drivers. Background technique [0002] With the development of robot technology, robots have gradually entered non-industrial fields such as entertainment and medical treatment, and the cooperation between humans and robots has become closer, which requires robots to be able to physically interact with the external environment and humans. In order to ensure the performance requirements of high speed and high precision, traditional drives often use rigid drives. The ensuing problem is that the physical interaction between the robot and the external environment and people will cause uncertainty, which cannot meet the needs of robots with low power consumption and high performance. Performance requirements such as safety and impact resistance. [0003] In order to adapt to the development of robot tec...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J17/00
CPCB25J9/16B25J17/00
Inventor 李智军王浩康宇
Owner UNIV OF SCI & TECH OF CHINA
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