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A Disturbance Observer Based Impedance Control Method for Parallel Robots

A technology of disturbance observer and impedance control, which is applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., which can solve the problem of impediment error convergence, impedance control stability and compliance, safety, reliability, inability to guarantee, inability to guarantee the stability of impedance control issues of sex and effectiveness

Active Publication Date: 2021-04-23
扬州运之鑫金属材料有限公司
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Problems solved by technology

However, this control method cannot ensure that the impedance error of the robot with uncertain items converges to zero or a small area of ​​zero point, cannot guarantee the stability and effectiveness of impedance control, cannot overcome the shortcomings of existing robot impedance control, and cannot realize impedance error The convergence and the stability and suppleness of impedance control, safe and reliable human-computer interaction

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  • A Disturbance Observer Based Impedance Control Method for Parallel Robots
  • A Disturbance Observer Based Impedance Control Method for Parallel Robots
  • A Disturbance Observer Based Impedance Control Method for Parallel Robots

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Embodiment Construction

[0048] Below in conjunction with accompanying drawing, the present invention is further described:

[0049] like Figure 1-4 A method for impedance control of a parallel robot based on a disturbance observer is shown, including the following steps:

[0050] Step 1, establish the Euler-Lagrangian model of the five-bar parallel robot:

[0051]

[0052] Where: q=[q 1 q 2 ] T ∈R 2 is the joint angle vector; is the joint velocity vector; is the joint acceleration vector; M(q)∈R 2×2 is the inertia matrix; Indicates Coriolis moment and centripetal moment; G(q)∈R 2 is the moment of gravity; Represents the lumped uncertainty item, where Indicates the friction torque, t d (t) represents external disturbance; t∈R 2 is the control input; t e =J T (q)f e ∈R 2 is the robot-environment interaction force in joint space, where J(q) is the Jacobian matrix, f e =[f e1 f e2 ] T ∈R 2 is the terminal interaction force;

[0053] The matrix M(q), and J(q) are expresse...

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Abstract

The invention discloses a method for controlling the impedance of a parallel robot based on a disturbance observer in the field of robot control, comprising the following steps: step 1, establishing an Euler-Lagrangian model of a five-bar parallel robot; Impedance dynamic model, designing an auxiliary trajectory, transforming the impedance control design problem into a special tracking problem of auxiliary trajectory; Step 3, based on the Euler-Lagrangian model of the five-bar parallel robot, designing a disturbance observer to estimate the Friction and disturbance; step 4, based on the auxiliary trajectory tracking error, design the robot-environment interactive control to suppress / encourage the wrong / correct movement of the robot; overcome the shortcomings of the existing robot impedance control, realize the convergence of the impedance error, and ensure the impedance control Stability and compliance, safe and reliable human-computer interaction, the invention can be used for the compliance control of robots.

Description

technical field [0001] The invention relates to a robot control method, in particular to a parallel robot impedance control method. Background technique [0002] At present, parallel robots have the advantages of high rigidity, compact structure, large carrying capacity, and good dynamic response, and have very important application values ​​in industry and service industries. When the robot performs tasks such as grinding, handling, assembly, rehabilitation, and surgery, the robot is in direct contact with the environment (human or manipulated object), and excessive contact force is likely to damage the robot or cause harm to the environment. Therefore, when the robot is performing contact operations, it needs to have a certain degree of compliance, which puts forward higher requirements for the robot's control system. Impedance control is an active compliance control method proposed by Hogan in 1985, which aims to establish a spring-damping dynamic system between the expe...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J9/00
CPCB25J9/003B25J9/1602
Inventor 孙太任邓东宁秦悦欣
Owner 扬州运之鑫金属材料有限公司
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