A tethered robot approaching target pose integrated control method

A technology of tethered robot and control method, which is applied in the direction of target-seeking control, program control manipulator, manipulator, etc., and can solve problems such as insufficient consideration, instability of position control, and easy oscillation of pose and other problems

Active Publication Date: 2021-11-16
NORTHWESTERN POLYTECHNICAL UNIV
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  • 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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  • A tethered robot approaching target pose integrated control method
  • A tethered robot approaching target pose integrated control method
  • A tethered robot approaching target pose integrated control method

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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 and figure 2 , figure 1 It is a schematic diagram of a tethered robot approaching a target in the present invention, wherein 1 is an operating platform, 2 is a tether, 3 is an operating gripper, and 4 is a target. An integrated control method for a tethered robot approaching a 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 rotates around the ...

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Abstract

The invention discloses an integrated control method for a tethered robot approaching a target pose, comprising the following steps: 1) establishment of a tethered robot pose dynamics model; 2) design of an interference observer; 3) design of a controller; 4) control Force / moment distribution. The invention designs a disturbance observer to estimate unmodeled deviations and environmental disturbances by establishing a pose dynamics model of a tethered robot, and designs an integrated control method for target pose tracking. In addition, the present invention fully considers the attitude-orbit coupling characteristics of the tethered robot, and further realizes the integrated control of the tethered robot's pose by making full use of the tether in the process of approaching the target.

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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Patent Type & Authority Patents(China)
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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