Double-arm robot cooperative impedance control method based on estimated dynamics model

Abstract

The invention discloses a double-arm robot cooperative impedance control method based on an estimated dynamics model. Firstly, the expected trajectory of the Cartesian space at the tail end of two arms of a robot is calculated according to the expected trajectory of the target object in the Cartesian space, then the actual contact force generated by the tail ends of the two arms and the target object is measured, deviation between the actual contact force and the expected contact force is figured out, and then the expected trajectory is corrected; then the joint angle trajectory of the double-arm robot is figured out; and by means of time delay estimation, expected speed feedback and expected position feedback, an estimated dynamic model of the double-arm robot is obtained, control momentsof joints of the double-arm robot are obtained accordingly, and the double-arm robot is controlled to complete movement. According to the method, the coordination of kinematics and dynamics in the interaction process of the double-arm robot and the external environment can be realized, the control torque can be rapidly generated by estimating the dynamics model, and the method can be applied to the motion control of the cooperative operation of the double-arm robot.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a dual-arm robot cooperative impedance control method based on an estimated dynamic model. Background technique [0002] Dual-arm robots can complete more complex assembly actions than traditional single-arm robots, so the coordinated control strategy and force and torque control of dual-arm robots have been extensively studied at home and abroad. However, controlling the interaction between two robotic arms and the target workpiece is more difficult than controlling a single robotic arm: the coordinated operation of the two arms must not only consider the kinematic coordination between the ends of the arms, but also take into account Dynamic coordination between the dual arms and the target workpiece: kinematic coordination means that the ends of the dual arms should move synchronously and always satisfy the pose constraints, so that the ends of the dual-arm robot maintain a constan...

AI Technical Summary

Problems solved by technology

In order to obtain the torque control amount of the manipulator, the dynamic model must be calculated. However, due to the higher degree of freedom and the more special application background, the dynamic model of the dual-arm robot is difficult to achieve real-time calculation.

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