Industrial robot force/position compliance control method based on kinetic parameter identification

Abstract

The invention discloses an industrial robot force / position compliance control method based on kinetic parameter identification. The method comprises the following steps that a kinetic equation with africtional force model is established by a newton-euler method; kinetic parameters are divided into connecting rod kinetic parameters and load kinetic parameters; an impedance control algorithm is putforward on the basis of an identified complete kinetic model to achieve the force / position compliance control; and the connecting rod kinetic parameters and the load kinetic parameters are identifiedthrough a robot experiment platform, and the impedance control algorithm is verified. The industrial robot force / position compliance control method based on kinetic parameter identification achievesthe force / position compliance control of the tail end of an industrial robot, the connecting rod kinetic parameters and the load kinetic parameters are identified through the six-connecting-rod robotexperiment platform, the impedance control algorithm is verified, the largest position error which is 0.05mm is generated when the robot passes through the track with an obstacle, and the practicability and the reliability of an impedance controller based on the kinetic model are verified.

Description

technical field [0001] The invention belongs to the technical field of control and relates to industrial robots, in particular to a force / position compliance control method for industrial robots based on dynamic parameter identification. Background technique [0002] Industrial robots are often used in complex tasks such as grinding, assembly, and polishing that require interaction with the environment. If only the position error is simply controlled, it may cause the end torque to exceed the limit or damage the workpiece. Therefore, in addition to the conventional position control when in contact with the environment, it is necessary Adjust the size of the contact force to achieve the flexibility of the end force and position during operation. [0003] In the force / position compliance control, the robot needs to obtain accurate external force to balance the relationship between the end force and the position. According to the different acquisition methods of the external fo...

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Problems solved by technology

[0008] In the prior art, the force / position compliance control algorithm mostly proves the performance of the controller through theoretical analysis or simulation. It only verifies the ideal situation and lacks actual experiments. Therefore, it is difficult to verify the design in the actual operation of industrial robots. The controller can adjust external force and position error to realize active and compliant control

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