Multi-joint mechanical arm impedance control method based on limited time output state limitation

Abstract

The invention belongs to the technical field of robot control, and particularly discloses a multi-joint mechanical arm impedance control method based on limited time output state limitation. The method is based on the backstepping method principle, and force / position control over a mechanical arm is achieved through the impedance control technology. According to the method, the fuzzy self-adaptiontechnology is adopted for approaching the unknown friction amount and the external disturbance variable in a multi-joint mechanical arm system, an obstacle Lyapunov function is introduced for restraining multi-joint mechanical arm output control signals, meanwhile, the force / position is ensure to be restrained in a given bounded interval all the time in the mechanical arm running process, limitedtime control is utilized for enabling mechanical arm force / position tracking signals to be converged within limited time, and the mechanical arm force / position tracking errors can be ensure to be converged into a small enough field of an original point within the limited time. According to the multi-joint mechanical arm impedance control method, the mechanical arm tail end force / position track can rapidly and effectively track the expected track.

Description

technical field [0001] The invention belongs to the technical field of robot control, and in particular relates to an impedance control method of a multi-joint manipulator based on a finite time limited output state. Background technique [0002] In recent years, the application of multi-joint robotic arm technology has become more and more popular, and its structure has become more complicated and precise. Therefore, higher precision force / position control methods are urgently needed to ensure the safety and compliance of this technology. In this field, many scholars have done a lot of research work and proposed a large number of control methods, such as force / position hybrid control method, impedance control method and so on. [0003] Among them, impedance control is an important method to solve the problem of force / position control. This method has the advantages of strong anti-disturbance ability, relatively small amount of calculation, and easy force control of the man...

AI Technical Summary

Problems solved by technology

However, for the above-mentioned technical problem (2), that is, the problem that the output state in the current controller design may exceed the allowable range, there is no good solution. Therefore, the safe operation of the system cannot be guaranteed.

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