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A Robotic Predictive Control Method Based on Low Latency Output Feedback Model

A technology of output feedback and predictive control, which is applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., and can solve the problems of accuracy and real-time influence on robot follow-up effect

Inactive Publication Date: 2020-10-09
CONPROFE MACHINE TOOLS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, one of the major difficulties in this field is prediction. The accuracy and real-time performance of the prediction will directly affect the follow-up effect of the robot.

Method used

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  • A Robotic Predictive Control Method Based on Low Latency Output Feedback Model
  • A Robotic Predictive Control Method Based on Low Latency Output Feedback Model
  • A Robotic Predictive Control Method Based on Low Latency Output Feedback Model

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Embodiment Construction

[0064] Such as figure 1 As shown, the present invention is based on a low-delay output feedback model robot predictive control method, the method specifically includes the following steps:

[0065] Step 1. Model Predictive Control

[0066] Obtain the noise value that interferes with the control of the robot through the observer, and then combine the input value obtained by the sensor to predict the next system state value of the robot;

[0067] 1.1 Obtain data through observers and sensors, and calculate the initial forecast value

[0068] Consider time systems in both linear and discrete forms;

[0069] x k+1 =Ax k +Bu k +w k (1a)

[0070] the y k =Cx k +v k (1b)

[0071] k means time, Indicates the system state value, represents the input value, represents unknown process noise; Indicates the usable measurement value disturbed by foreign objects, Represents unknown measurement noise, A, B, and C are adjustable coefficients; the system state value x and...

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Abstract

The invention discloses a robot prediction control method based on a low-delay output feedback model. The robot prediction control method comprises the following steps that a noise value controlled byan interference robot is obtained through an observer, and a next system state value of the robot is predicted according to the input value obtained by a sensor; judgment is carried out on the calculation method of all control laws, an optimal mode in two calculation modes is selected, and a multi-model weighting coefficient is calculated. The method has stronger real-time performance and greatlyreduces output delay. The influence of noise on the system is reduced by analyzing the existing state, and the prediction control of the system is more stable and effective.

Description

technical field [0001] The invention belongs to the field of automatic control and relates to a low-delay output feedback model predictive control of a linear constraint system. Background technique [0002] In the current field of humanoid robots, the control technology of robot mechanical limbs has become mature, and it can complete some complex actions, such as swinging arms, walking, squatting and so on. However, common robot control is that humans give instructions to control the robot, and there are few ways for robots to follow autonomously. Thanks to the development of machine vision technology, a new generation of robots can capture information through cameras. The predictive control follow-up of humanoid robots is an emerging field arising from the intersection of robot control technology and machine vision technology. Predictive control following refers to the use of machine vision technology to capture and analyze the actions of the follower. On this basis, the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1605B25J9/1628
Inventor 郑淳馨孔亚广潘亮孔君睿陈张平王春达
Owner CONPROFE MACHINE TOOLS CO LTD