A Force/Position Fuzzy Hybrid Control Method for Dual Manipulators Based on Backstepping Method
A hybrid control and dual-machine technology, applied to manipulators, program-controlled manipulators, manufacturing tools, etc.
Active Publication Date: 2020-12-08
QINGDAO UNIV
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[0003] The purpose of the present invention is to propose a dual mechanical arm force / position fuzzy hybrid control method based on the backstepping method to solve the problem of multi-robot force / position hybrid control in the case of external disturbances and uncertain parameters
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[0122] The basic idea of the present invention is: utilize the fuzzy logic system to approach the unknown nonlinear function in the multi-robot system, meanwhile, based on the Lyapunov function, use the backstepping method to construct the intermediate virtual control signal, and obtain the control law step by step, so as to control the multi-robot system The end effector of the robotic arm is constrained to ensure that the end effector of the robotic arm can accurately track the ideal trajectory of the target object, and the internal force on the target object is negligible.
[0123] Among them, the adaptive backstepping method has been widely valued and applied because it can effectively overcome the influence of time-varying parameters and load disturbance on system performance. Backstepping is a method of controlling uncertain, nonlinear systems, especially those that do not satisfy a given condition. The biggest advantage of the backstepping method is that the original ...
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The invention discloses a backstepping step based double-mechanical arm force / position fuzzy mixing control method. In the method, aiming to the force / position control precision requirement for a collaborative robot and the nonlinear problem in a system, the control quantity of a robot system is restrained based on a Lyapunov function; and meanwhile, by utilizing a nonlinear function in a fuzzy logic system approximation system, a fuzzy self-adaptive position tracking controller is constructed. By adopting the method, a tracking error of the system can be ensured to be converged to a sufficiently small neighborhood around an original point, a contact force between an end effector and a target object can be controlled in a defined range, and a simulation result shows that the new control method ensures various state quantities of multiply mechanical arms to be in a constraint space of the system, and input of the controller is stabilized in a bounded region. The method realizes rapid and effective response to force / position tracking and controlling of double mechanical arms.
Description
technical field [0001] The invention belongs to the technical field of force / position tracking control of multiple manipulators, in particular to a double manipulator force / position fuzzy hybrid control method based on a backstepping method. Background technique [0002] Since robot technology was introduced into industrial production in the 1960s, the automation of manufacturing industry has made great progress. However, many industrial productions need to complete complex tasks, which poses a huge challenge to the development of single-robot systems. Therefore, compared with single robots, collaborative robots have more advantages, such as transporting large and heavy loads, assembling and manipulating objects of arbitrary shape and weight, building and maintaining in harsh environments, etc. However, the collaborative robot will be affected by uncertain factors such as friction force and external load disturbance when working, and the internal force of the object grasped...
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IPC IPC(8): B25J9/16
Inventor 于金鹏马玉梅柳建良刘占杰胡成江张国斌王博
Owner QINGDAO UNIV