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

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

Active Publication Date: 2022-03-29
ELECTRIC POWER RES INST OF GUANGDONG POWER GRID
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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, device, storage medium and working robot
  • Position domain impedance control method, device, storage medium and working robot
  • Position domain impedance control method, device, storage medium and working 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 present invention provides a position-domain impedance control method, device, storage medium, and operating robot. By establishing a three-stage cascade control closed loop of "position planning loop-impedance control loop-speed control loop", the robot can complete the movement of the predetermined trajectory, And any position trajectory can be superimposed at any time through position planning, which will not cause the instability of the control system; when the robot encounters a fixed obstacle, it can stop moving immediately to prevent collisions; in addition, the present invention introduces the actual movement distance of the robot as a system variable , when the robot stops moving, the time migration will not lead to the continuous integration of the closed-loop control error, and will not cause the overshoot of the control input after the obstacle exits, realizing the position and force control of the robot in the position domain.

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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Patent Type & Authority Patents(China)
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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