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Robot control method, computing device and storage medium

A control method and robot technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., to achieve the effect of ensuring stability and effectiveness, and reliable human-computer interaction

Active Publication Date: 2020-06-05
SHANGHAI ELECTRICGROUP CORP
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  • Application Information

AI Technical Summary

Problems solved by technology

Existing schemes still have many deficiencies in the stability, effectiveness, and accuracy of impedance control

Method used

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  • Robot control method, computing device and storage medium
  • Robot control method, computing device and storage medium
  • Robot control method, computing device and storage medium

Examples

Experimental program
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Embodiment Construction

[0047] As mentioned above, the existing solutions still have many shortcomings in the stability, effectiveness, and accuracy of impedance control.

[0048] For example, some schemes propose impedance control methods for parallel robots based on disturbance observers, which overcome the shortcomings of impedance control of existing robots, realize the convergence of impedance errors, and ensure the stability of impedance control and compliant, safe and reliable human-computer interaction. However, the program does not consider the influence of the external environment of the system, and the system's adaptability is difficult to guarantee.

[0049] For another example, some schemes propose that the online identifier calculates the equivalent mass parameter M of the affected limb according to the force and position of the affected limb collected by the force sensor and the position sensor. h , Equivalent damping parameter B h And equivalent stiffness parameter K h , And then use the ch...

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Abstract

The invention discloses a robot control method, a computing device and a storage medium. The method includes the steps that position and force parameters of a robot are acquired; based on the acquiredposition and force parameters and a hybrid adaptive impedance control algorithm designed for the robot in advance, hybrid adaptive impedance control rates are obtained, wherein the hybrid adaptive impedance control algorithm is designed based on a dynamic model and a Lyapunov equation, and the hybrid adaptive impedance control rates include the inner loop adaptive impedance control rate corresponding to a position control subspace of the robot and the outer loop adaptive impedance control rate corresponding to a force control subspace of the robot; and the motion of the robot is adaptively controlled based on a control instruction obtained by dynamic inverse solution conversion of the hybrid adaptive impedance control rates. Thus, a hybrid adaptive impedance control strategy is designed in combination with a Lyapunov method so as to provide support for ensuring the stability and effectiveness of impedance control and achieving compliant, safe and reliable human-machine interaction.

Description

Technical field [0001] This application relates to the technical field of industrial robot control, and in particular to a robot control method, computing device and storage medium. Background technique [0002] An industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device oriented to the industrial field. It is a machine that automatically performs work to achieve various functions by its own power and control capabilities. Industrial robots can be commanded by humans, they can also operate in accordance with pre-arranged procedures, and they can also act according to principles and guidelines formulated by artificial intelligence technology. [0003] The problem of force control has always been a common concern of many robotics researchers. When the robot does not interact with the external environment, position control can meet the general control requirements. When the robot is in contact with the external environment, such as polishing and rehab...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1602
Inventor 吕燕潘炳伟蒋劲峰陈忠
Owner SHANGHAI ELECTRICGROUP CORP
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