Force/position compliance control method for industrial robots based on dynamic parameter identification

Abstract

The invention discloses a force / position compliance control method for an industrial robot based on dynamic parameter identification, comprising the following steps: constructing a dynamic equation with a friction force model by using the Newton-Euler method; Based on the identified complete dynamic model, an impedance control algorithm is proposed to realize force / position compliance control; the link dynamics parameters and load dynamics parameters are identified through the robot experimental platform, and the impedance control algorithm is carried out. verify. The invention realizes the force / position compliance control of the end of the industrial robot, identifies the dynamic parameters of the connecting rod and the dynamic parameters of the load through the six-link robot experimental platform, and verifies the impedance control algorithm. The maximum position error is 0.05mm, which confirms the practicability and reliability of the dynamic model-based impedance controller.

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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