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Integrated control method for tethered robot approaching target pose

A tethered robot and control method technology, which is used in the control of finding targets, program-controlled manipulators, and manipulators, etc., can solve the problems of easy vibration of position and posture, insufficient consideration, and instability of position control.

Active Publication Date: 2019-01-18
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The method is simple but does not fully consider its impact, that is, whether the designed attitude controller can suppress the attitude disturbance caused by the tether in time
Whether the attitude disturbance generated by the tether will lead to the instability of the position control is lack of consideration. It is foreseeable that when the convergence speed of the attitude controller is slower than the convergence speed of the position controller, the pose is prone to oscillation

Method used

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  • Integrated control method for tethered robot approaching target pose
  • Integrated control method for tethered robot approaching target pose
  • Integrated control method for tethered robot approaching target pose

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Embodiment Construction

[0099] The present invention is described in further detail below in conjunction with accompanying drawing:

[0100] see figure 1 with figure 2 , figure 1 It is a schematic diagram of the tethered robot approaching the target of the present invention, wherein 1 is the operating platform, 2 is the tether, 3 is the operating gripper, and 4 is the target. An integrated control method for the tethered robot approaching the target pose provided by the present invention, Include the following steps:

[0101] 1. Establishment of tethered robot attitude-orbit integration model:

[0102] The coordinate system used is defined as follows: is the body coordinate system of the manipulator, O I x I Y I Z I is the inertial coordinate system; the absolute attitude angle of the paw is expressed as o t1 x t1 the y t1 z t1 is the tether coordinate system of the tether, in the present invention the tether is simplified as a massless section, and the inertial coordinate system rota...

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Abstract

The invention discloses an integrated control method for a tethered robot approaching target pose. The method comprises the steps of: 1) establishing a tethered robot pose dynamic model; 2) designingan interference observer; 3) designing a controller; and 4) distributing control force / torque. According to the integrated control method for the tethered robot approaching target pose, the interference observer is designed to estimate un-modeled deviation and environmental interference, and the integrated control method is designed for target pose tracking. In addition, the pose-orbit couplingcharacteristic of the tethered robot is fully considered, so that the pose of the tethered robot can be integrally controlled by a tether in a target approaching process.

Description

technical field [0001] The invention belongs to the field of robot control technology research, and in particular relates to a tethered robot approaching process, which utilizes the tether and its own actuator to realize the position and posture integrated tracking control method. Background technique [0002] The tethered robot is composed of an operating platform, a tether, and an operator. It has the characteristics of flexibility, safety, and long operating distance. It is a service robot with relatively promising application prospects. Widely used in aerospace, aviation, navigation and other fields. [0003] The approach of the tethered robot to the target is the prerequisite for its implementation of a series of tasks. Considering the similarity in structure of tethered robots used in aviation, spaceflight and navigation, including operating platforms, tethers, and manipulators, a general model can be established to describe them. During the task, the operating platf...

Claims

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Application Information

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IPC IPC(8): G05D1/12B25J9/16
CPCB25J9/1612B25J9/1628G05D1/12
Inventor 黄攀峰胡永新孟中杰刘正雄张夷斋董刚奇张帆
Owner NORTHWESTERN POLYTECHNICAL UNIV
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