A flexible joint control method based on sliding mode observer
A technology of sliding mode observer and flexible joints, which is applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve problems such as being susceptible to external disturbances, difficult modeling, strong nonlinearity, etc., to suppress tremors and improve control accuracy and anti-interference performance, avoiding the effect of dynamic modeling and dynamic parameter identification process
Active Publication Date: 2022-07-29
洛阳尚奇机器人科技有限公司
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[0004] The purpose of the present invention is to provide a flexible joint control method based on a sliding mode observer, which aims to solve the problems of strong nonlinearity, difficult modeling and susceptibility to external disturbances in the flexible joint manipulator system in the prior art
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[0049] The present invention will be further described in detail below with reference to the accompanying drawings and technical solutions.
[0050] refer to figure 1 , a flexible joint control method based on sliding mode observer, the control method includes the following steps:
[0051] Step 1: Establish the dynamic model of the flexible joint manipulator:
[0052]
[0053]
[0054] where (1) represents the dynamic model of the load side, (2) represents the dynamic model of the motor side, represents the load-side angle, angular velocity and angular acceleration, represents the motor side angle, angular velocity and angular acceleration, M(q) represents the inertia matrix of the robotic arm, represents the nonlinear term consisting of centrifugal force and Coriolis force, G(q) represents the gravity matrix of the robotic arm, J represents the moment of inertia on the motor side, K s represents joint stiffness, λ represents joint reduction ratio, τ ext represen...
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The invention discloses a flexible joint control method based on a sliding mode observer, including step 1: establishing a dynamic model of a flexible joint mechanical arm, step 2: designing the sliding mode observer, and step 3: applying the sliding mode observer to The flexible joint manipulator system, step 4: design the control law of the flexible joint manipulator, step 5: update the control output of the manipulator; the sliding mode observer designed in the present invention estimates the system dynamic characteristics and external disturbances, which can be used independently of the system. The system disturbance can be accurately estimated under the condition of the internal model structure and related parameters, and the saturation function is introduced into the sliding mode observer, which can effectively suppress the chattering phenomenon of the traditional sliding mode observer based on the sign function.
Description
technical field [0001] The invention relates to the field of robot control, in particular to a flexible joint control method based on a sliding mode observer. Background technique [0002] With the development of a new generation of collaborative manipulator technology, traditional industrial manipulators are developing in the direction of joint lightweight and high load-to-weight ratio; in the process of reducing the weight of manipulator joints, the stiffness of the joints is relatively reduced, and the flexibility of the joints is becoming more and more Obviously, the existence of joint flexibility will affect the control accuracy of the control system and increase the control difficulty. Therefore, the flexible joint manipulator system has the characteristics of strong nonlinearity, difficult modeling, and easy to be subject to external disturbances; A class of traditional disturbance observers represented by disturbance observers generally use the known model informatio...
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IPC IPC(8): B25J9/16B25J17/00
CPCB25J9/1605B25J9/1651B25J9/1633B25J17/00
Inventor 赵杰李长乐金宏哲
Owner 洛阳尚奇机器人科技有限公司