Industrial robot uncertainty compensation method

An industrial robot, uncertainty technology, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve the problems of inability to achieve high-precision control, reduced operation accuracy, poor control effect, etc., to improve position control performance and reduce defects. Affect and reduce the effect of design cost

Inactive Publication Date: 2020-01-03
南京隆越自动化科技有限公司
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Problems solved by technology

As far as the current situation is concerned, domestic industrial robot manufacturers need to face the following problems: poor control accuracy, reduced operating accuracy after long-term use, and cannot effectively compensate
However, when there are obvious uncertainties in the system, the control effect of the proportional-integral-derivative control method is relatively poor, and high-precision control cannot be achieved.

Method used

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  • Industrial robot uncertainty compensation method
  • Industrial robot uncertainty compensation method
  • Industrial robot uncertainty compensation method

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Embodiment Construction

[0025] The present invention will be further explained below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the following specific embodiments are only used to illustrate the present invention but not to limit the scope of the present invention.

[0026] combine figure 2 , image 3 The method for compensating the uncertainty of industrial robots provided by the present invention comprises the following steps:

[0027] Step 1, by installing an encoder on each joint of the two-axis industrial robot, obtain the angle information and angular velocity information of each joint, and transmit it to the industrial robot controller in real time;

[0028] Such as figure 2 As shown, an encoder and a torque motor are installed between the base and the outer frame as well as the inner and outer frames. The torque motor provides the frame rotation torque, and the encoder obtains the angle and angular velocity information of the join...

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Abstract

The invention discloses an industrial robot uncertainty compensation method. By the method, parameter uncertainty, friction moment, cross coupling moment and environment interference in a multi-axis industrial robot kinetic equation serve as lumped uncertainty, the angle, angular velocity and moment information of each joint are acquired by a signal processor, an uncertainty estimator based on high-order sliding mode theory is constructed, and the lumped uncertainty of the industrial robot is reconstructed. The estimation value of the obtained lumped uncertainty and a feedback linear control algorithm are combined, a composite controller is designed and accurate position control of the multi-axis industrial robot is realized by a driver according to compensation. By the method, the controller design process of the industrial robot is simplified, the bad influence caused by uncertainty is effectively overcome and the control precision of the system is improved.

Description

technical field [0001] The invention relates to an uncertainty compensation method for an industrial robot, which belongs to the field of industrial robot control. Background technique [0002] Since the beginning of this century, due to the rapid development of advanced technologies such as computer technology, automatic control technology, and communication technology, the rising labor costs, and the further increase in the mass production requirements of enterprises, global industrial robots will usher in a rapid and high-quality development. massive development. The demand for industrial robots has expanded from the automobile production industry to many industries such as electronic information, biomedicine, food processing, logistics and transportation. In terms of regional distribution, with the development of manufacturing industries in Asia, especially East Asia, the demand for industrial robots in various industries has increased, making the market demand for indu...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1602
Inventor 徐龙
Owner 南京隆越自动化科技有限公司
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