Force/position hybrid control method of multi-mechanical arm system based on command filtering

Abstract

The invention belongs to the technical field of robot control, and specifically discloses a force/position hybrid control method of a multi-mechanical arm system based on command filtering. The methodis based on the Lyapunov function, an anti-step method is used for constructing an intermediate virtual control signal, gradual recurrence is carried out to obtain a control law, and therefore an endeffector of multiple mechanical arms is controlled. A fuzzy logic system is used for processing an unknown nonlinear function in the multi-mechanical arm system, and meanwhile, a command filtering technique is used for solving the problem that a second derivative of the actual position of a desired object does not exist. The method can ensure that a position tracking error and an internal force adjustment error of the object are converged to a sufficiently small neighborhood around an original point. In summary, by means of the force/position hybrid control method of the multi-mechanical armsystem, effectivity under various working conditions is achieved, the object accurately tracks a desired trajectory, and the internal force borne by the object is controlled within a reasonable range.

Description

technical field [0001] The invention belongs to the field of robot control, and relates to a force / position hybrid control method of a multi-manipulator system based on command filtering. Background technique [0002] At present, most domestic industrial production uses single-arm robots. Single-arm robots are inefficient in industrial production activities such as assembling parts and handling heavy objects, and their working quality is average under high-precision operating conditions. Cooperative multi-robots are multiple manipulators that carry, assemble, and polish objects at the same time, and are superior to single-arm robots in terms of operating efficiency and control accuracy. However, compared with the single-manipulator system, the multi-manipulator system has many state variables, is highly nonlinear and has complex coupling. The force / position hybrid control of multi-manipulator systems is a major challenge and is currently one of the research hotspots in this...

AI Technical Summary

Problems solved by technology

However, the dynamic surface control technology has filtering errors in actual engineering, so it will greatly affect the position tracking and internal force adjustment errors of the system

Images