Industrial robot and its trajectory tracking control method based on iterative feedback adjustment

Abstract

The invention discloses an industrial robot based on iterative feedback adjustment and a trajectory tracking control method thereof, and belongs to the field of industrial robot control. The method combines the limitation of the amplitude of a control input signal and trajectory tracking errors, establishes a trajectory tracking control criterion, derives to obtain a partial derivative of the control criterion relative to a speed controller and a position controller, then designs three iterative experiments and uses the collected data to complete the estimation of the information of the partial derivative of the control criterion, and realizes the update and correction of trajectory tracking controller parameters of joint drive systems. Compared with the prior art, the trajectory trackingcontrol method is a model-free adaptive control method which is not affected by unmodeled dynamics and modeling errors, the effect of noise disturbance by a method of repeatedly obtaining data by iteration is eliminated, and position following errors in an iteration domain are combined to adaptively update the trajectory tracking controller parameters of a correction system to ensure that the following control performance of the system is optimal.

Description

technical field [0001] The invention belongs to the field of industrial robot control, and more specifically relates to an industrial robot trajectory tracking control method based on iterative feedback adjustment. Background technique [0002] High-performance industrial robot systems are widely used in fields requiring high control precision, such as laser processing, welding, palletizing, and 3C. For industrial robots, the control performance of the drive system of each joint will directly affect the operating efficiency and positioning accuracy of industrial robots, so using advanced intelligent control algorithms to further improve the dynamic response tracking performance of its joint drive system can ensure the trajectory tracking of industrial robots Control precision and reliability. [0003] In the field of automation control, industrial robots need to be precisely positioned. The drive system of each joint adopts a cascade control structure. This cascade control ...

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Problems solved by technology

[0006] 1) The traditional method relies on the identification of the precise model of the system, and for the drive system with nonlinear, strong coupling and time-varying parameters, its control performance will be affected, and unmodeled dynamics and model errors always exist , so cascade controllers designed based on inaccurate models cannot guarantee the optimal control performance of the system;

[0007] 2) The existing method adopts the concept of step-by-step design for the speed loop and the position loop. For the design optimization of the single-joint trajectory tracking controller, it is necessary to study the control algorithm for the speed loop and the position loop separately, so the efficiency of the algorithm cannot be guaranteed. To ensure that, thus affecting the real-time control;

[0008] 3) On the other hand, the process data used in the controller design will be subject to noise interference or sensor noise when it is transmitted through the wire, and the existing methods do not study the disturbance suppression strategy for noise interference, so the trajectory tracking control performance limited

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