Impedance control method and device, impedance controller and robot

An impedance control, robotic arm technology, applied in impedance control methods, impedance controllers, robots, and devices, and can solve problems such as the inability to achieve independent control of position or force, the inability of the robotic arm to track the desired interaction force, and the inability to achieve desired force control. , to simplify the control complexity, improve flexibility and safety, and enhance the effect of application

Active Publication Date: 2020-10-02
UBTECH ROBOTICS CORP LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, its goal is to control the relationship between force and position at the end of the manipulator, and it cannot achieve independent control of position or force, making the manipulator unable to track the desired interaction force
In addition, when carrying out the impedance task in the Cartesian task space, due to the coupling of th

Method used

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  • Impedance control method and device, impedance controller and robot
  • Impedance control method and device, impedance controller and robot
  • Impedance control method and device, impedance controller and robot

Examples

Experimental program
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Embodiment 1

[0064] Please refer to Figure 4 , this embodiment proposes an impedance control method, which can be applied to torque control of a mechanical arm or a robot with redundant degrees of freedom and degrees of freedom at the end. Since the impedance control method is aimed at the impedance control in the Cartesian space, that is, the end of the manipulator performs tasks in the Cartesian space, the Cartesian space in this embodiment is also called the task space.

[0065] The impedance control method will be described in detail below.

[0066] In step S110, the current joint motion information and joint force information of the manipulator in the joint space and the actual interaction force received by the end are obtained, and the actual motion information of the end in the task space is obtained through forward kinematics according to the joint motion information.

[0067] In an embodiment, the actual motion information of the terminal mainly includes the actual position, act...

Embodiment 2

[0113] Please refer to Figure 9 , based on the impedance control method of the above-mentioned embodiment 1, this embodiment proposes an impedance control device 10, which includes:

[0114] The information acquisition module 110 is used for the current joint motion information and joint force information of the robotic arm in the joint space and the actual interaction force received by the end, and solves the actual motion of the end in the task space through forward kinematics according to the joint motion information information.

[0115] The impedance control quantity calculation module 120 is used to calculate the modified expected trajectory of the terminal by using the current environment information and the expected terminal interaction force planned in advance in the task space, according to the joint force information, the actual interaction force, the The impedance control torque of the manipulator in the joint space is obtained by calculating the actual motion in...

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Abstract

The embodiment of the invention provides an impedance control method and device, an impedance controller and a robot. The method comprises the steps of acquiring joint motion information and joint stress information of a mechanical arm in a joint space and actual interaction force received by a tail end, and solving actual motion information of the tail end in a task space according to the joint motion information; calculating a corrected expected trajectory by using environmental information and tail end expected interaction force, carrying out calculation to obtain an impedance control moment according to the joint stress information, the actual interaction force, the actual motion information and the tail end expected information containing the corrected expected trajectory, determininga compensation moment according to a nonlinear term in a constructed dynamic equation, and therefore controlling the joint moment of the mechanical arm. According to the technical scheme, the impedance control law is corrected to realize directional decoupling impedance control, so that the interaction between the tail end and the environment is safer and more compliant, and the force control precision can be improved; and control complexity can be simplified through the nonlinear term in the compensation dynamic equation

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to an impedance control method, device, impedance controller and robot. Background technique [0002] Different from the position-controlled manipulators that are widely used at present, the torque-controlled manipulator can directly control the output force, has faster response speed and safety, and can better meet the needs of service robots and collaborative robots that have high requirements for safety and compliance. field. However, the control of the force-controlled manipulator is more complicated, and the full dynamics of the robot must be considered, which has high nonlinearity. [0003] The impedance control of Cartesian space has good flexibility and is suitable for interactive occasions. However, its goal is to control the relationship between force and position at the end of the manipulator, and it cannot achieve independent control of position or force, making ...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1633B25J9/1602
Inventor 黄荔群任晓雨赵明国熊友军
Owner UBTECH ROBOTICS CORP LTD
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