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Position domain impedance control method and device, storage medium and operation robot

An impedance controller and impedance control technology, applied in the field of robotics, can solve the problems of system vibration and large feedback input, and achieve the effect of preventing collision

Active Publication Date: 2021-02-26
ELECTRIC POWER RES INST OF GUANGDONG POWER GRID
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, if the trajectory is not adjusted in time, the feedback input will be too large due to the accumulation of tracking errors, causing system vibration

Method used

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  • Position domain impedance control method and device, storage medium and operation robot
  • Position domain impedance control method and device, storage medium and operation robot
  • Position domain impedance control method and device, storage medium and operation robot

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Embodiment Construction

[0050]The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0051] Those skilled in the art will understand that unless otherwise stated, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the word "comprising" used in the specification of the present application refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, Integers, s...

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Abstract

The invention provides a position domain impedance control method and device, a storage medium and an operation robot. A three-stage cascade control closed loop of a position planning loop, an impedance control loop and a speed control loop is established so that the robot can complete the movement of a predetermined trajectory, any position trajectory can be superposed at any time through position planning, and the instability of a control system cannot be caused. When the robot touches a fixed obstacle, the robot can immediately stop moving to prevent collision. Besides, the actual movementdistance of the robot is introduced as the independent variable of the system, the continuous integration of the closed-loop control error is not caused by the time migration when the robot stops moving, the overshoot of the control input after the obstacle quits is not caused, and the position and force control of the robot in the position domain is realized.

Description

technical field [0001] The present invention relates to the technical field of robots, in particular to a position domain impedance control method, device, storage medium and operating robot. Background technique [0002] At present, as the future development trend of robot operation, its real operation objects are often non-rigid and non-fixed, and the operation environment is also unstructured. For example, a robot overhauls overhead distribution network lines with electricity, and the robot needs to deal with non-deterministic external disturbances in real time during the execution of accurate and compliant operations. However, the existing operating robots often adopt position control mode, which is difficult to adapt to the unstructured, multi-disturbance, and strong flexible operating environment. [0003] On the other hand, in the traditional robot motion tracking control system, the reference signal takes time as the independent variable, and the obstacle on the pat...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1651
Inventor 王杨吴晖
Owner ELECTRIC POWER RES INST OF GUANGDONG POWER GRID
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