A Cartesian Impedance Control Method of Superimposed Oscillating Force for Robot Assembly

Abstract

The present invention proposes a Cartesian impedance control method for superimposed oscillating force oriented to robot assembly. The method includes the following steps: Step 1. For the insertion stage of assembly components, dynamic modeling is carried out in combination with the principle of impedance control; Step 2. In the Cartesian space establishes a position-based impedance controller model for the component assembly system of the manipulator; Step 3: Add superimposed oscillating force to the position-based impedance controller model, and analyze the effect of superimposed oscillating force; Step 4: Establish a superimposed oscillating force The Cartesian impedance controller model. The method of the present invention can adjust the position and posture deviation of the assembly component insertion stage, significantly reduce the assembly resistance caused by the small assembly gap and the external disturbance to the end, avoid blocking, make the assembly more compliant, and solve the problem of small gap insertion of the mechanical arm. The compliance problem of pulling assembly. The invention can be widely used in various robot assembly tasks, and the process is simple and easy to realize.

Description

technical field [0001] The invention belongs to the field of robot control, in particular to a method for controlling the Cartesian impedance of superimposed oscillation force for robot assembly. Background technique [0002] With the rapid development of robot technology, the use of robotic arms for autonomous assembly has attracted more and more attention from researchers. For assembly tasks in some special environments, robotic arms can greatly reduce human work pressure and efficiently complete assembly tasks, especially avoiding the danger of people working in extreme environments. Therefore, robotic autonomous assembly technology has become one of the hotspots of current research. [0003] Especially for small-gap high-precision assembly tasks in special environments such as space on-orbit assembly, the assembly control method adopted by the robot is particularly important. General assembly tasks can be roughly divided into two stages: approaching and inserting. In d...

AI Technical Summary

Problems solved by technology

The position-based impedance control strategy is suitable for medium and high stiffness occasions; while the force-based impedance control requires an accurate dynamic model and impedance model of the manipulator, and its robustness and reliability are not as good as position-based impedance control.

In addition, due to the unknown stiffness of the external environment and unpredictable changes, it is difficult to find accurate impedance control parameters. When faced with the insertion assembly task of high-precision components, small assembly clearances, unavoidable small-scale errors and end disturbances make assembly The process is prone to blockage, reducing the success rate of autonomous assembly

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