Robot control method with automatic parameter optimization function, control device and robot

An automatic optimization and control method technology, applied in the field of robotics, can solve problems such as poor control robustness, inability to adapt to a wide range of motion situations, and reduce system response speed, to achieve real-time adjustment, taking into account high motion response, and suppressing vibration amplitude. effect of value

Active Publication Date: 2021-05-14
SIASUN CO LTD
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  • Application Information

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Problems solved by technology

At present, the main technologies used to reduce vibration include command shaping, torque feedforward, filter and observer, etc., but these technologies can only eliminate part of the vibration under specific conditions, or the control robustness is poor and cannot adapt to a large range. sports occasions
Although there is a servo gain optimization vibration suppression method in the prior art, the vibration suppression method in the prior art simply reduces the gain value with a specific coefficient. Although it can reduce part of the vibration amplitude, it also reduces the response speed of the system.

Method used

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  • Robot control method with automatic parameter optimization function, control device and robot
  • Robot control method with automatic parameter optimization function, control device and robot
  • Robot control method with automatic parameter optimization function, control device and robot

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Embodiment Construction

[0043] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly illustrate the spirit of the content disclosed in the application with the accompanying drawings and detailed descriptions. After any person skilled in the art understands the embodiments of the content of the application , when it can be changed and modified by the technology taught in the content of the application, it does not depart from the spirit and scope of the content of the application.

[0044] The exemplary embodiments and descriptions of the present application are used to explain the present application, but not to limit the present application. In addition, elements / members with the same or similar numbers used in the drawings and embodiments are used to represent the same or similar parts.

[0045] The terms "first", "second", ... etc. used herein do not specifically refer to a sequence or order, nor are they u...

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Abstract

The invention provides a robot control method with an automatic parameter optimization function, a control device and a robot. The control method comprises the following steps of establishing a kinetic model of a driving joint of the robot; setting a servo parameter optimization criterion, and determining a per-unit reference value of a servo parameter of the driving joint according to a dynamic model of the driving joint; calculating and updating the load inertia corresponding to each driving joint in the current state according to the state of the robot; calculating the optimal value of the servo parameter of each driving joint according to the updated load inertia corresponding to each driving joint in the current state and the set servo parameter per unit reference value of each driving joint; and synchronously downloading the optimized values of the servo parameters of the driving joints to servo drivers of the driving joints in real time so as to control the driving joints. The vibration amplitude of the robot during operation can be remarkably restrained, and meanwhile the requirement for the response speed is considered.

Description

technical field [0001] The present application belongs to the technical field of robot control, and specifically relates to a robot control method, a control device and a robot with automatic parameter optimization. Background technique [0002] As a kind of industrial robot, the mechanical arm is a serial multi-axis motion control system composed of a group of driving joints connecting a group of supporting rods. With the characteristics of programmability and versatility, industrial robots are playing an increasingly important role in the field of modern production and manufacturing. Their comprehensive advantages in speed, precision, task flexibility and other indicators are unmatched by conventional equipment. [0003] However, as the application scenarios have higher and higher requirements for speed, precision and load, the insufficiency of some inherent properties of the robot structure has become the main bottleneck for the further improvement of the robot's performa...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602
Inventor 杨跞陈宏伟丁振杨慧新曹安全王成刚
Owner SIASUN CO LTD
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