Parameter self-tuning impedance control system construction method for improving flexible grasping performance of picking robot

Abstract

The invention discloses a parameter self-tuning impedance control system construction method for improving the flexible grasping performance of a picking robot. A parameter self-tuning impedance control system is constructed. An outer ring is a parameter self-tuning impedance controller and an inner ring is a position controller. The position controller is a single neuron adaptive PID controller.A displacement variation which is collected by an encoder and is output to an end actuator by a controller is used to analyze the influence of an outer ring impedance controller parameter change on system output. Based on that, the nonlinear functions of impedance controller inertia, rigidity and a damping coefficient with an input force error are designed and constructed, and an impedance controller parameter is automatically changed along with the change of the input force error. By using the parameter self-tuning impedance control method, a control parameter can be adjusted automatically inan on-line mode, and the control performance and the work efficiency of a robot can be effectively increased.

Description

technical field [0001] The invention belongs to the field of picking robot control, and in particular relates to a method for constructing a parameter self-tuning impedance control system for improving the compliant grasping performance of a picking robot. Background technique [0002] In the research process of fruit picking robot, the design and control of the end effector, which is in direct contact with the fruit, has always been one of its key technologies. The skin of the fruit is thin and easily damaged. When picking by a robot, if the grasping force exerted by the fingers of the end effector is too small, the fruit will slip; if the grasping force is too large, the skin of the fruit will be damaged. Therefore, an end effector is needed It has good compliance and stability during the grasping process to achieve non-destructive grasping control of fruits. Impedance control controls the force based on the feedback force, the displacement, velocity and acceleration of t...

AI Technical Summary

Problems solved by technology

[0003] According to the deficiencies and defects of the prior art, the present invention proposes a parameter self-tuning impedance control system construction method to improve the compliant grasping performance of the picking robot. The purpose is to solve the deficiency of the existing picking robot end effector impedance control. ideal defect

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