Force/position coordinated multi-arm robot compliance control method

Abstract

The invention relates to a force / position coordinated multi-arm robot compliance control method, and belongs to the field of robot control. The method adopts a force synchronous coordination control method in a large closed-loop period of a mechanical arm and a position synchronous coordination control method in a small closed-loop period, thereby realizing force / position synchronous coordinationcontrol of multi-mechanical arms; By adopting the concept of force synchronous control and establishing a force synchronous controller among the multi-mechanical arms, the accuracy of force coordination is guaranteed; and by adopting the concept of position synchronous control in the small closed-loop controlled by the mechanical arm and establishing a position synchronous controller among the multi-mechanical arms, the response frequency of the system is improved, the response period is shortened, and the accuracy of the pose coordination control is improved, so that the multi-mechanical armcompliance control method based on the force / position coordination is achieved. According to the method provided by the invention, the synchronous coordination relationship of the positions is guaranteed while the force coordination between the different mechanical arms is determined.

Description

technical field [0001] The invention relates to the control of a robot, in particular to a force / position coordinated multi-arm robot compliance control method. Background technique [0002] When the robot completes an operation task under the condition of multi-manipulator force coupling, in order to ensure the safety of the manipulator and the operating object, it is necessary to use compliant control or force control to achieve force coordination. However, due to the long response period of the force closed loop, and In fact, most of the inner rings of the manipulator adopt the position control mode. Therefore, the response time of the manipulator will be affected. Therefore, if the synchronization of forces during the coordinated operation of multi-manipulators can be guaranteed at the same time, the synchronization of poses can also be ensured. This will improve the coordinated operation of the robotic arm. [0003] In recent years, with the growing demand for force co...

AI Technical Summary

Problems solved by technology

In a single manipulator, the relationship between the output and input of the impedance equation is only related to the pose error and force error of the manipulator itself. When multi-manipulators are coordinated, in order to ensure the safety of the system, force synchronization is used to ensure the multi-manipulator. Force coordination relationship, but in practical applications, due to the slow physical response and closed-loop period of the force sensor, and the short closed-loop period of the position and posture of the manipulator, only the synchronous closed-loop control of the force will track the position and posture of the manipulator have an impact

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