Mobile mechanical arm position/force active disturbance rejection control method based on adaptive algorithm

A technology of mobile manipulators and self-adaptive algorithms, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as difficult real-time adjustment of algorithms

Active Publication Date: 2020-06-23
TIANJIN UNIV MARINE TECH RES INST
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Problems solved by technology

However, in practical applications, the external environment changes in real time, and these...

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  • Mobile mechanical arm position/force active disturbance rejection control method based on adaptive algorithm
  • Mobile mechanical arm position/force active disturbance rejection control method based on adaptive algorithm
  • Mobile mechanical arm position/force active disturbance rejection control method based on adaptive algorithm

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Embodiment Construction

[0112] The structural block diagram of the control system designed by the present invention is as follows figure 2 shown. In order to verify the validity of the control algorithm designed by the present invention, MATLAB is used as the simulation platform to move the mechanical arm in all directions with two links with 5 degrees of freedom ( figure 1 shown) for the control object to verify the control simulation experiment of the position / force of the mobile manipulator. The following describes in detail the method for controlling the position / force of the mobile manipulator under the condition of uncertainty in the external environment of the present invention in conjunction with the simulation experiment and the accompanying drawings.

[0113] Aiming at the control problem of the position / force of the omnidirectional moving manipulator under the condition of uncertain external environment, the present invention designs an impedance parameter adaptive algorithm by using the...

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Abstract

The invention provides a mobile mechanical arm position/force active disturbance rejection control method based on an adaptive algorithm. According to the method, a gradient descent method and an improvement process method are utilized according to a performance function, a parameter adaptive estimation algorithm is designed to adjust a target impedance parameter in real time, and a target impedance model can adapt to the external environment. Then, an impedance controller of a joint space is designed, an improved linear expansion state observer is utilized to estimate disturbance of a system,and compensation is carried out in the impedance controller. Simulation experiments show that the method can achieve accurate control over position/force under the condition that the external environment is uncertain.

Description

technical field [0001] The invention belongs to the field of position / force control of a mobile manipulator, in particular to a position / force ADR control method of a mobile manipulator based on an adaptive algorithm. Background technique [0002] The mobile robot arm is a kind of mobile robot system composed of fixing the robot arm on the mobile platform. It is a typical strongly coupled, nonlinear MIMO system. In practical engineering applications, the execution of some complex tasks requires the interaction between the end effector of the mobile manipulator and the outside world. When interacting with the external environment, an impedance control strategy is usually used to control the position / force of the mobile manipulator. However, during the contact between the end of the mobile manipulator and the environment, changes in the environment will cause changes in the parameters of the target impedance; even in the same environment, the contact force between the mobile...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J13/00
CPCB25J9/1664B25J9/1607B25J13/00
Inventor 任超韦冬梅马书根
Owner TIANJIN UNIV MARINE TECH RES INST
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