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Closed-chain type multi-arm robot compliance control method

A technology of compliant control and robotics, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems affecting multi-arm operation performance, inapplicability, and accumulation of superimposed errors, so as to ensure system safety and stability and realize control Accuracy, the effect of ensuring synchronous compliance

Active Publication Date: 2018-10-12
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

However, the simple impedance control method ignores the relative error of the robot's multi-arm, resulting in the accumulation of superimposed errors between the two, which seriously affects the operational performance of the multi-arm
Therefore, it is not suitable for the coordinated control of the relative position and contact force between the object and the multi-arm robot

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  • Closed-chain type multi-arm robot compliance control method
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Embodiment Construction

[0048] 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:

[0049] Such as figure 1 As shown, a closed-chain multi-arm robot compliance control method, assuming that the robot has n mechanical arms, the sequence numbers are i=1,...,I; the specific steps of the control method are as follows:

[0050] Step S10, calculating the expected contact force at the end of the manipulator i by the manipulator operation task;

[0051] Step S11, measuring the actual contact force at the end of the manipulator i through the six-dimensional torque sensor installed at the end of the manipulator i;

[0052] Step S12, calculate the expected pose of the end of the robot arm i by the robot arm operation task;

[0053] Step S13, measuring the absolute angle of the joint i of the manipulato...

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Abstract

The invention relates to a closed-chain type multi-arm robot compliance control method and belongs to the field of robot control. According to the closed-chain type multi-arm robot compliance controlmethod, a Cartesian impedance control system is adopted, an inner ring is Cartesian position control, an outer ring is an impedance controller, a synchronization control thought is introduced in the Cartesian impedance control system, according to motion constraint relations between a mechanical arm and an object as well as between the mechanical arm and the mechanical arm, the synchronization impedance controller which takes the absolute position and pose error, synchronization position and pose error and coupling position and pose error as input is designed, so that the coordination compliance characteristic of a closed-chain type multi-arm robot system is realized, and then the synchronization compliance of multi-arm tail end position and pose is guaranteed. By means of the closed-chaintype multi-arm robot compliance control method, the system control accuracy can be improved, the system safety and stability can be guaranteed, and convenience is provided for the robot convergence technology.

Description

technical field [0001] The invention relates to the control of a robot, in particular to a method for controlling the compliance of a closed-chain multi-arm robot. Background technique [0002] When a multi-arm robot completes an operation task under the condition of closed force, it is necessary to ensure the safety of not only the mechanical arm, but also the safety of the operating object. The single-arm compliance control can ensure the safety of the terminal operation of the mechanical arm, but when multiple mechanical When the arm operates the object at the same time, due to the error between the expected pose and the actual pose of the robotic arm, the object may be under too much or too little force, and the safety of the object cannot be guaranteed. In recent years, with the increasing demand for force control, the research on multi-arm coordination problems has gradually developed from pure position control, master-slave control, force / position hybrid control to im...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1628B25J9/1651
Inventor 张子建董洋洋
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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