Adaptive Modeling Method for Robot Drive-Control Integrated System

Abstract

The present invention relates to the technical field of robot drive-control integrated system, and discloses an adaptive modeling method of robot drive-control integrated system, comprising the following steps: 1) According to the design model of the robot, the kinematic model and power of each joint of the robot are obtained 2), through the Newton Euler method, according to the inverse dynamics model, and the current planned position, speed and acceleration, calculate the delivered torque; 3), through the dimension reduction method to reduce the dimensionality of the robot drive and control integrated system To the N-order system, get its state equation; 4), set the adjustable adaptive law, optimize it through the deep learning algorithm, select the exponential acceleration and deceleration curve as the excitation trajectory; take the dynamic parameters of the robot’s joints into consideration, Combined with the dynamic performance of the robot, the drive and control system of the robot is integrated into the modeling, and the precise matching of the model is achieved, which proves that the adaptive modeling method of the robot drive and control integrated system is effective.

Description

technical field [0001] The patent of the present invention relates to the technical field of an integrated robot drive and control system, and specifically relates to an adaptive modeling method for an integrated robot drive and control system. Background technique [0002] At present, the servo control of the robot mainly depends on the adjustment of the output by the PID control. In view of the limitations of its parameter setting, by considering the robot kinematic chain as a whole as a control object, using a multi-stage system with excellent dynamic performance as a reference model, through the stable Based on the theory of self-adaptive matching, the deep learning algorithm gradually iteratively approaches, how to obtain the precise modeling model of the integrated robot drive and control system. [0003] In the existing technology, due to the limitations of experience, experimentation and parameter setting of PID control adjustment, it is difficult for the established...

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Problems solved by technology

[0003] In the existing technology, due to the limitations of experience, experimentation and parameter setting of PID control adjustment, it is difficult for the established model to gradually approach the performance of the reference model; the traditional PID controller model does not consider the electromechanical dynamics model of the robot The controller cannot be accurately combined with the dynamic performance of the robot, and the parameter identification and modeling calculation of the traditional robot dynamic model are very complicated, which is difficult to achieve in the engineering field

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