A robot adaptive impedance control system based on dynamic model

Abstract

The invention belongs to the related technical field of industrial robot control, and discloses a robot self-adaption impedance control system based on a dynamic model. The system comprises a preprocessing module, an impedance controller and a self-adaption strategy control module; the preprocessing module is used for constructing the robot dynamic model, identifying dynamic parameters and friction coefficients of a robot, then optimizing the robot dynamic model and also transmitting the optimized robot dynamic model to the impedance controller; the impedance controller is used for realizing compliance control over the force and position of the tail end of the robot according to the robot dynamic model and transmitting the calculated position error, velocity error and external force valueto the self-adaption strategy control module; and the self-adaption strategy control module is used for conducting judgment according to received data and self pre-stored numerical value, calculatingcontroller parameters and transmitting the controller parameters to the impedance controller. The robot self-adaption impedance control system has the good adaptability, high precision and good flexibility.

Description

technical field [0001] The invention belongs to the related technical field of industrial robot control, and more specifically relates to a robot adaptive impedance control system based on a dynamic model. Background technique [0002] With the development of science and technology, industrial robots have been widely used in various fields such as intelligent manufacturing and aerospace. The demand for robots and precision requirements are also getting higher and higher. The traditional control method is to control the position of the robot joints, which may cause the torque of the robot joints to exceed the limit or the contact force at the end is too large, resulting in damage to the workpiece during handling. In the case of errors, there are problems such as failure of parts equipment or low cutting precision, and more serious problems may damage the end of the robot or the connecting rod. In particular, for some complex and changeable working environments or assembly wo...

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Problems solved by technology

[0005] Aiming at the above defects or improvement needs of the prior art, the present invention provides a dynamic model-based robot adaptive impedance control system, which is based on the existing impedance control characteristics, in order to solve the problem of low control accuracy, research and design A Dynamic Model Based Robot Adaptive Impedance Control System with Better Accuracy

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