Feedforward control method for flexible torque of robot based on flexible kinetic model

Abstract

The invention discloses a feedforward control method for a flexible torque of a robot based on a flexible kinetic model. The method comprises the following steps: S1, establishing a cognizable minimuminertial parameter model of a flexible joint of the robot; S2, carrying out data sampling and pretreatment on joint movement parameters in the moving process of the flexible joint of the robot in real time periodically; S3, substituting the pre-treated joint movement parameters into the cognizable minimum inertial parameter model, recognizing flexible kinetic parameters by means of the least square estimation method, and substituting the parameters back to calculate a torque value needed by the flexible joint; S4, sending the torque value as a feedforward amount to a bottom layer of a servo driver periodically; and S5, overlaying the feedforward amount and an output amount of an electric current loop in a form of compensation to achieve flexible control of the robot. By establishing the kinetic model of the flexible joint of the robot and recognizing the torque rigidity parameter of the flexible joint and the minimum inertial parameter to obtain the torque value as the feedforward amount, dynamic response and positioning precision of the robot are improved.

Description

technical field [0001] The invention relates to a control method applied to a high-speed load industrial robot, in particular to a robot flexible moment feedforward control method based on a flexible body dynamics model. Background technique [0002] With the rapid increase in the penetration rate of industrial robots in the 3C electronics industry, people have higher and higher requirements for the speed, acceleration and precision of robots. The specific performance indicators are manifested in the robot's high repeatability positioning accuracy, TCP maximum speed, TCP maximum acceleration and short handling cycle when picking materials. Due to the complex structure of the robot, the highly coupled joints, and the nonlinear and time-varying control, these factors will bring unavoidable problems such as hysteresis and oscillation in the dynamic response of the robot. In particular, the joints of industrial robots generally use components such as synchronous conveyor belt s...

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem of dynamic response hysteresis caused by factors such as complex structure, joint coupling, and nonlinear time-varying control of the robot, as well as the mechanical resonance caused by joint flexibility factors, the present invention improves the rigid body feedforward torque compensation method, A solution to the flexible moment feed-forward compensation based on the flexible body dynamics model is proposed

Images