Manipulator control method and device and manipulator

Abstract

The invention discloses a manipulator control method and device and a manipulator. The control method comprises the steps that the current grabbing force and the current position of an end effector ofthe manipulator are received through an adaptive controller, the end effector is subjected to expected position estimation according to the current grabbing force and the current position so as to obtain an expected position, and the expected position is transmitted to an impedance controller; and the impedance controller converts the current grabbing force, the current position and the expectedposition, after the difference value of the current grabbing force and the expected force is obtained, the difference value is converted into displacement deviation according to a first-order impedance admittance model simplified from a kinetic model when the end effector collides with an object, the expected position is corrected according to the displacement deviation, and a corrected position is obtained and transmitted to a sliding mode controller. According to the manipulator control method and device and the manipulator, the sliding mode controller adjusts and controls the output voltageof a motor of the end effector according to the current position and the displacement difference between the current position and the corrected position so as to adjust the current grabbing force ofthe end effector.

Description

technical field [0001] The present application relates to the technical field of robot control, in particular to a method and device for controlling a manipulator and a manipulator. Background technique [0002] The ocean hides a large amount of resources and energy. With the increasing shortage of land resources, the sustainable development of human beings will increasingly rely on the ocean. The existing exploration and development of marine resources is usually carried out by using underwater robots, and the manipulator used for grasping operations in underwater robots is one of the key technologies for the development and application of underwater robots. However, due to the complexity and particularity of the grasping operation, the success rate of the traditional manipulator is low when grasping, and the damage rate of the grasped objects is high. [0003] In order to solve the above problems, in the prior art, a torque sensor and a force sensor are used in combinatio...

AI Technical Summary

Problems solved by technology

However, when the existing technology is used to control the underwater grasping operation of the manipulator, it is found that due to the influence of the underwater environment, the contact point between the manipulator and the object to be grasped is uncertain, so the sensor may not be able to detect whether the manipulator is grasping the object. Or the detection information is incomplete, resulting in the lack of sufficient sensor feedback for the manipulator, causing the grip force to exceed the expected grip force and cannot be adjusted in time, which in turn damages the grasped objects and easily causes damage to the manipulator.

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