Impedance control method of multi-joint manipulator based on limited output state in finite time

Abstract

The invention belongs to the technical field of robot control, and specifically discloses a method for controlling the impedance of a multi-joint manipulator based on a limited time output state. Control, the method of the present invention uses fuzzy self-adaptive technology to approach the unknown friction and external disturbances in the multi-joint manipulator system, and restricts the output control signal of the multi-joint manipulator by introducing the obstacle Lyapunov function, while ensuring that the manipulator is in operation. The force / position is always constrained in a given bounded interval, and the finite time control is used to make the force / position tracking signal of the manipulator converge within a finite time, which ensures that the force / position tracking error of the manipulator can converge to the origin within a finite time. within a small area. The control method proposed by the invention can make the force / position trajectory at the end of the mechanical arm quickly and effectively track the desired trajectory.

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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