Impedance control method for multi-joint mechanical arm based on finite time command filter

Abstract

The invention discloses an impedance control method for a multi-joint mechanical arm based on finite time command filter and belongs to the technical field of robot control. Based on a backstepping method, force / position control of the mechanical arm is achieved by means of an impedance control technique. An unknown friction quantity in a multi-joint mechanical arm system is approached by adoptinga fuzzy adaptive technique and a command filter technique is introduced to solve the computing complexity problem in a conventional backstepping controller design, and meanwhile, an error compensating mechanism is introduced to eliminate influence of filter errors. A force / position tracking signal of the mechanical arm is converged within a finite time by means of finite time control, so that itis ensured that the force / position tracking error of the mechanical arm can be converged in a small enough field of an origin within the finite time. In a word, according to the control method provided by the invention, a force / position track at the tail end of the mechanical arm can track an expected trajectory quickly and effectively.

Description

technical field [0001] The invention belongs to the technical field of robot control, and in particular relates to a multi-joint manipulator impedance control method based on finite time command filtering. Background technique [0002] With the increasing use of robotic arms in social life, its working environment is becoming more and more complex, and the position control of robotic arms alone cannot meet today's work needs. The application of human-robot collaboration technology in social production has become a future development trend. At the same time, in order to improve the safety and compliance of the human / robot interaction system, a higher-precision manipulator force / position control strategy is used in practical projects. There is a greater demand in the application, so how to effectively control the force / position of the collaborative manipulator has become an important research hotspot. In order to solve this problem, experts and scholars at home and abroad hav...

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Problems solved by technology

[0003] As an advanced control method, the backstepping control method has been applied to the control of multi-manipulator systems, and has achieved good force / position control effects, but the problems existing in the backstepping method are mainly reflected in: (1) a certain part of the system These functions must be linear; (2) The repeated derivation of the virtual control law in the backstepping controller design increases the "computational complexity". The existence of the above problems makes the use of the backstepping method have greater limitations

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