Mechanical arm impedance control method

A technology of impedance control and manipulator, which is applied in the direction of manipulator, program control manipulator, manufacturing tools, etc. It can solve the problems of low precision of impedance control, slow response, and inability to solve the problem of manipulator impedance control well.

Active Publication Date: 2020-04-07
NINGBO INST OF MATERIALS TECH & ENG CHINESE ACADEMY OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, on the one hand, due to the slow response of the inner ring position, the impedance control accuracy is low; on the other hand, when the robot arm control system int...

Method used

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  • Mechanical arm impedance control method
  • Mechanical arm impedance control method
  • Mechanical arm impedance control method

Examples

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Embodiment 1

[0067] The block diagram of the impedance control system of the manipulator is as follows: image 3 shown.

[0068] The manipulator impedance control system will figure 1 The force-based impedance control system shown with figure 2 The shown position-based impedance control system is fused; the joint position controller is built into the robotic arm; the figure 2 The admittance controller combined with the control architecture of the inverse kinematics of the manipulator is equivalently transformed into a virtual impedance controller combined with a forward dynamics solver; on the basis of the virtual impedance controller, the control loop is connected in parallel, and the function of the control loop is equivalent to At figure 1 The impedance controller in , makes the pose error by Cartesian space The reference impedance F obtained by the reference impedance model imp Converge to the actual measured external force F s , and then output F through the closed-loop force...

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Abstract

The invention provides a mechanical arm impedance control method. A position-based impedance control method and a force-based impedance control method are fused; a joint position controller is arranged in the mechanical arm; the control architecture of an admittance controller combined with the inverse kinematics of the mechanical arm in the position-based impedance control method is replaced by the control architecture of a virtual impedance controller combined with a forward dynamics solver, an impedance controller in the force-based impedance control system is replaced by a control loop, sothat a reference impedance force Fimp obtained by a pose error of a Cartesian space through a reference impedance model is converged to an actually measured external force Fs, and then an FFC is output through a closed-loop force controller. According to the method, the control precision and the stability during interaction with the hard environment are ensured simultaneously in mechanical arm impedance control, and a new method is provided for motion control of the industrial mechanical arm.

Description

technical field [0001] The invention belongs to the technical field of industrial machinery, and in particular relates to a method for controlling the impedance of a mechanical arm. Background technique [0002] There are two commonly used robot impedance control methods, one is force-based impedance control method, and the other is position-based impedance control method. The block diagrams of the two impedance control systems are as follows: figure 1 and figure 2 shown. [0003] With the force-based impedance control, the system has good stability when the manipulator interacts with the environment, but the impedance control effect depends on the accurate dynamic model of the manipulator. [0004] Employing position-based impedance control, the inner-loop position controller makes the method robust to friction and other unmodeled dynamics of the manipulator, thus freeing itself from the need for an accurate dynamics model. However, on the one hand, the impedance contr...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1633
Inventor 王冲冲杨桂林陈庆盈辛强方灶军张驰陈思鲁
Owner NINGBO INST OF MATERIALS TECH & ENG CHINESE ACADEMY OF SCI
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