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Design method of anti-interference controller for nonlinear robot

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

Active Publication Date: 2022-02-18
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.

Method used

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  • Design method of anti-interference controller for nonlinear robot
  • Design method of anti-interference controller for nonlinear robot
  • Design method of anti-interference controller for nonlinear robot

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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 design method of a nonlinear robot anti-external interference controller. The technical solution of the present invention includes an inversion controller, a robot subject to external source disturbance and a nonlinear disturbance observer, and is characterized in that it includes the following steps: a, without considering the external source interference d, designing the inversion controller so that its output is τ 0 ; b. In the case of external source disturbance d, design a nonlinear disturbance observer to estimate the external source disturbance received by the robot, and obtain the estimated value of external source disturbance d c. Output τ from the inversion controller 0 and the estimated value of external source interference to obtain the output τ of the anti-external interference controller; d. Control the robot with the output τ of the anti-external interference controller, so that the actual position q of the robot and its expected position q can be realized while suppressing the external source interference d tracking. The invention can effectively suppress the external source interference of the robot system, and significantly improve the position tracking accuracy and system operation stability of the robot system.

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...

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Application Information

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