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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 of manipulators, manipulators, manufacturing tools, etc., to achieve the effect of ensuring stability and effectiveness, and reliable human-computer interaction

Active Publication Date: 2021-08-03
SHANGHAI ELECTRICGROUP CORP
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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
Comparison scheme
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Embodiment Construction

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

[0048] For example, some schemes propose an impedance control method for parallel robots based on disturbance observers, which overcomes the shortcomings of existing robot impedance control, realizes the convergence of impedance errors, and ensures the stability of impedance control and compliant, safe, and reliable human-computer interaction. However, this scheme does not consider the influence of the external environment of the system, and it is difficult to guarantee the adaptability of the system.

[0049] For another example, some schemes propose that the online identifier calculates the equivalent mass parameter M of the affected limb based on the force and position of the affected limb collected by the force sensor and the position sensor h , equivalent damping parameter B h and the equivalent stiffness parameter K h , and...

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Abstract

The application discloses a robot control method, a computing device and a storage medium. The method includes: obtaining position parameters and force parameters of the robot; based on the obtained position parameters and force parameters and a hybrid adaptive impedance control algorithm designed for the robot in advance, a hybrid adaptive impedance control rate is obtained, wherein the hybrid adaptive control algorithm is designed based on the dynamic model and Lyapunov equation, and the hybrid adaptive impedance control rate includes the inner loop adaptive impedance control rate corresponding to the robot's position control subspace and the outer loop self-adaptive impedance control rate corresponding to the robot's force control subspace. Adaptive impedance control rate; the motion of the robot is adaptively controlled based on the control command obtained by the dynamic inverse conversion of the hybrid adaptive impedance control rate. Therefore, a hybrid adaptive impedance control strategy is designed by combining the Lyapunov method to provide support for ensuring the stability and effectiveness of impedance control and realizing compliant, safe and reliable human-computer interaction.

Description

technical field [0001] The present application relates to the technical field of industrial robot control, in particular to a robot control method, a computing device and a storage medium. Background technique [0002] An industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device for the industrial field. It is a machine that automatically performs work by its own power and control capabilities to achieve various functions. Industrial robots can accept human command, can also run according to pre-programmed programs, and can also act according to the 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. Force position control is particularly important when the robot is in contact with the external env...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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