Coupling forward feedback control method aiming at robot

A technology of feedforward control and feedforward controller, which is applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., can solve problems such as restricting control quality, and achieve the effect of simple algorithm and easy implementation

Active Publication Date: 2018-11-02
TIANJIN UNIV
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Problems solved by technology

However, the robot is a multi-joint coupling system. In high-speed, high-acceleration applications, the coupling between joints restricts the further improvement of control quality.

Method used

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  • Coupling forward feedback control method aiming at robot
  • Coupling forward feedback control method aiming at robot
  • Coupling forward feedback control method aiming at robot

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Embodiment Construction

[0016] In order to make the technical solution of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings. It should be understood that the specific examples described here are only used to explain the present invention, but are not limited to this example.

[0017] A kind of coupling feed-forward control method for robot of the present invention (such as figure 1 shown), including the following steps:

[0018] (a) each joint control motor of the robot is connected to a servo driver and each servo driver is respectively connected to the feed-forward controller and the feedback controller and the coupling feed-forward controller of each joint control motor, the feedback controller PID controller is adopted, and the feedforward controller adopts speed and acceleration feedforward controller;

[0019] The feed-forward controller is based on the expected position value θ of the motor connected t...

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Abstract

The invention discloses a coupling forward feedback control method aiming at a robot. The coupling forward feedback control method comprises the following steps: step 1, connecting each joint servo driver of the robot with a PID (Proportion Integration Differentiation) feedback controller and a speed and acceleration forward feedback controller; step 2, taking expected rotation angles of other joint motors except a controlled joint motor as first-order and second-order differentials; multiplying the first-order differential by a corresponding speed forward feedback gain and multiplying the second-order differential by a corresponding acceleration forward feedback gain; summarizing to obtain a coupling forward feedback control instruction; step 3, adding a feedback control instruction and aforward feedback control instruction obtained by step 1, and the coupling forward feedback control instruction obtained by step 2, and outputting to a servo driver of the controlled joint motor. By adopting the method disclosed by the invention, coupling disturbance between joints can be compensated in real time, without the need of complicated dynamic calculation, so that the movement control precision of the robot in high-speed and high-acceleration application scenarios is improved.

Description

technical field [0001] The invention relates to the field of robot technology and automation, in particular to a robot coupling feedforward control method. Background technique [0002] Industrial robot position loop controller generally adopts PID controller. This kind of controller has simple structure, strong robustness and high reliability, and occupies a dominant position in the industrial control process. Considering that there is a certain hysteresis in the feedback control, adding speed and acceleration feedforward controllers on the basis of the PID controller to realize compound control can significantly improve the following accuracy of the servo system. Usually in the case of low speed and low acceleration, using the above-mentioned decentralized control structure based on the compound control strategy can achieve a relatively ideal control effect. However, the robot is a multi-joint coupling system. In high-speed, high-acceleration applications, the coupling b...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602
Inventor 黄田刘祺肖聚亮刘海涛秦旭达牛文铁梅江平
Owner TIANJIN UNIV
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