Method for designing non-linear robot anti-exogenous interference controller

A design method and robot technology, applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., can solve the problems of not considering external source interference of robots, improve position tracking accuracy and system operation stability, and suppress external source interference Effect

Active Publication Date: 2020-12-15
XIHUA UNIV
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Problems solved by technology

However, none of the above literatures considered the situation that the robot is disturbed by external sources.

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  • Method for designing non-linear robot anti-exogenous interference controller
  • Method for designing non-linear robot anti-exogenous interference controller
  • Method for designing non-linear robot anti-exogenous interference controller

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[0034] It should be noted that, in the case of no conflict, the specific implementation methods, examples and features in the present application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and in conjunction with the following contents.

[0035] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the specific embodiments of the present invention and the examples will be clearly and completely described below in conjunction with the accompanying drawings in the specific embodiments of the present invention and the examples. , the described embodiments are only some of the embodiments of the present invention, but not all of them. Based on the specific implementation modes and examples in the present invention, all other implementation modes and examples obtained by persons of ordinary skill in the art without mak...

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Abstract

The invention relates to the technical field of robot control. The invention discloses a method for designing a non-linear robot anti-exogenous interference controller. According to the technical scheme, the method involves an inversion controller, a robot affected by exogenous interference and a non-linear interference observer, and is characterized by comprising the following steps that a, the inversion controller is designed to enable the output of the inversion controller to be tau0 without considering the exogenous interference d; b, under the condition of the exogenous interference d, the non-linear interference observer is designed to estimate the exogenous interference suffered by the robot to obtain an estimated value c of the exogenous interference d; c, the output tau of the anti-exogenous interference controller is obtained through the output tau0 of the inversion controller and the estimated value of the exogenous interference; and d, the robot is controlled by using the output tau of the anti-exogenous interference controller, so that the tracking of the expected position qd by the actual position q of the robot is realized while the exogenous interference is suppressed. By adoption of the method, exogenous interference of the robot system can be effectively suppressed, and the position tracking accuracy and system operation stability of the robot system are remarkably improved.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a control method when a nonlinear robot is disturbed, in particular to a design method for a nonlinear robot anti-external interference controller. Background technique [0002] In practical applications, the robot system will be subject to various external disturbances, which will reduce the accuracy of the position tracking of the robot system, and even affect the stability of the system. Therefore, effective control methods need to be designed to compensate for external disturbances. [0003] An effective way to compensate the external disturbances the robot receives is to use disturbance observers. Li et al [Z.J.Li, C.Y.Su, L.Y.Wang, et al.Nonlinear disturbance observer-based control design for a robotic exoskeleton incorporating fuzzy approximation.IEEE Transactions on Industrial Electronics,2015,62(9):5763-5775.] designed a The nonlinear disturbance observer compens...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1656B25J9/161B25J9/1679
Inventor 刘霞刘丹丹
Owner XIHUA UNIV
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