Mode-based intelligent control method for position-limited flexible joint robot

A technology of flexible joints and intelligent control, which is applied in the direction of program-controlled manipulators, manipulators, manufacturing tools, etc., and can solve problems such as damage to the drive mechanism of flexible joint robots, damage to the stability of the control system, and jumps.

Active Publication Date: 2019-01-18
SOUTH CHINA UNIV OF TECH
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  • Abstract
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Problems solved by technology

When switching between different tasks, there will be jumps in the switching of the controller input signal, which will

Method used

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  • Mode-based intelligent control method for position-limited flexible joint robot
  • Mode-based intelligent control method for position-limited flexible joint robot
  • Mode-based intelligent control method for position-limited flexible joint robot

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Embodiment

[0093] This embodiment provides a mode-based intelligent control method for a position-limited flexible joint robot. The overall process is as follows figure 1 As shown, the method is described in detail by taking a double-link flexible joint robot as an example, and its detailed implementation process includes:

[0094] Step 1. Establish the dynamic model of the double-link flexible joint robot:

[0095]

[0096]

[0097] where q 1 =[q 11 ,q 12 ] represents the rotation angle vector of the connecting rod, q 2 =[q 21 ,q 22 ] represents the rotation angle vector of the motor, M(q 1 )∈R 2×2 Indicates the inertia matrix of the connecting rod, J∈R 2×2 is the motor inertia matrix that is diagonally positive definite, in addition, is the Coriolis force and centrifugal force matrix, g(q 1 ) represents the gravity term. K∈R 2×2 is the stiffness matrix of the flexible joint, and is also a constant matrix that is diagonally positive definite, so K -1 is also a positi...

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Abstract

The invention discloses a mode-based intelligent control method for a position-limited flexible joint robot. The method comprises the following steps that a kinetic model of the flexible joint robot and a universal model of a plurality of expected regression trajectories are established; constrained conditions of position limitation are given based on actual working conditions, corresponding position transfer functions are designed, and a constant-value neural network controller group satisfying transient performance requirements and based on the a reference pattern is designed according to adetermined learning theory; a dynamic pattern library of the expected regression trajectory model is established; a pattern recognition scheme and controller switching strategy based on dynamic patterns is designed. The mode-based intelligent control method for the position-limited flexible joint robot has the advantages that the flexible joint robot acquires and utilizes empirical knowledge fromcomplex work tasks when output variables meet the specified constrained conditions, thereby achieving the real-time monitoring and autonomous rapid identification of the dynamic pattern of the system,also ensuring that the smooth continuity of input signals is controlled during mode switching, and providing a guarantee for the stability of the control system.

Description

technical field [0001] The invention relates to the field of pattern recognition-based flexible joint robot control, in particular to a pattern-based intelligent control method for a position-limited flexible joint robot. Background technique [0002] Human science and technology are changing with each passing day, and robots that can effectively reduce human burden and work have been born, and their birth and development have further promoted the continuous progress of human society. The manipulator is an important branch of the robot, among which the flexible joint robot has become an important field of in-depth research by people now and in the future due to its advantages of small size, light weight, low consumption, high efficiency, flexibility and convenience. The research on the flexible joint robot includes the research on its dynamic model and the research on its control strategy. Especially in aerospace, precision machinery and its automation control, flexible joi...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1602
Inventor 王敏黄盛钊邹永涛陈志广
Owner SOUTH CHINA UNIV OF TECH
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