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A trajectory tracking control method for joints with variable stiffness

A control method and trajectory tracking technology, applied in the field of bionic robots, to achieve the effect of improving accuracy, improving observation accuracy, reducing measurement noise and calculation error

Active Publication Date: 2021-11-23
JIANGSU UNIV
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  • Application Information

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Problems solved by technology

However, with the expansion of the scope of industrial automation requirements and the further exploration of application scenarios, such as spare parts assembly, workpiece grinding, and human-machine collaboration, the high mechanical stiffness and control stiffness of traditional robots have great limitations. Therefore, adjustable stiffness Soft robots become an important development direction in the future

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  • A trajectory tracking control method for joints with variable stiffness
  • A trajectory tracking control method for joints with variable stiffness
  • A trajectory tracking control method for joints with variable stiffness

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Embodiment Construction

[0071] Embodiments of the present invention are described in detail below, and examples of the illustrated embodiments are illustrated in the drawings, wherein like or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0072] Such as figure 1 The trajectory tracking control process of the variable stiffness joint shown in the figure, after being set by the operator, the trajectory generator outputs commands to the control system, and the commands output by the trajectory generator include the angular position command q of the variable stiffness joint manipulator d , angular velocity command Angle position command of position motor Angular velocity command of the position motor Angular position command for stiff...

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Abstract

The invention provides a track tracking control method of a variable stiffness joint, the steps include: establishing a state equation of a dynamic model according to the controlled variable stiffness joint manipulator, and splitting it into two parts: a link position subsystem and a stiffness motor subsystem , establish a virtual control law for each subsystem to control, and finally perform saturation compensation and interference compensation for the position motor torque and stiffness motor torque output by each subsystem; the control method of the present invention, after receiving external commands, returns based on feedback The actual state information of the variable stiffness joint manipulator, the motor torque information after saturation constraints, and the disturbance information are used to correct the output motor torque in real time, which improves the tracking control accuracy.

Description

technical field [0001] The invention belongs to the field of bionic robots, and in particular relates to a control method for track tracking of joints with variable stiffness. Background technique [0002] In the field of industrial manufacturing, robots have been widely used. At present, industrial robots mainly use rigid structures to repeatedly perform specified single actions in a structured environment. However, with the expansion of the scope of industrial automation requirements and the further exploration of application scenarios, such as spare parts assembly, workpiece grinding, and human-machine collaboration, the high mechanical stiffness and control stiffness of traditional robots have great limitations. Therefore, adjustable stiffness Soft robots have become an important development direction in the future. [0003] Variable stiffness joints are an important part of realizing flexible robots, and robots obtain flexibility through joints. At present, variable s...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1628B25J9/1664
Inventor 季晨赵振龙徐金龙孔民秀
Owner JIANGSU UNIV
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