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

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

Active Publication Date: 2022-07-05
SIASUN CO LTD
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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.

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

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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 contents disclosed in the present application with the accompanying drawings and detailed description. , when it can be changed and modified by the technology taught by the content of this application, it does not depart from the spirit and scope of the content of this application.

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

[0045] The "first", "second", . .

[0046] As used herein, "comprising," "including," "having," "containing," and the like, are open-ended terms, meaning including but not limited to....

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Abstract

The present application provides a robot control method, a control device and a robot with automatic parameter optimization. The control method includes: establishing a dynamic model of a driving joint of the robot; setting servo parameter optimization criteria, and determining according to the dynamic model of the driving joint The per-unit reference value of the servo parameters of the drive joints; the load inertia corresponding to each drive joint in the current state is calculated and updated according to the robot state; the load inertia corresponding to each drive joint according to the updated current state and the set servo parameters of each drive joint Calculate the optimized value of the servo parameters of each drive joint based on the reference value per unit; download the optimized value of the servo parameters of each drive joint to the servo driver of each drive joint synchronously in real time to control each drive joint. The present application can significantly suppress the vibration amplitude when the robot is running, while taking into account the requirements of response speed.

Description

technical field [0001] The present application belongs to the technical field of robot control, and in particular relates to a robot control method, a control device and a robot with automatic parameter optimization. Background technique [0002] As one of the industrial robots, the robotic arm is a serial multi-axis motion control system composed of a set of driving joints and a set of supporting rods connected. With the characteristics of programmability and versatility, industrial robots are playing an increasingly important role in the field of modern manufacturing, and their comprehensive advantages in indicators such as speed, precision, and task flexibility are unmatched by conventional equipment. [0003] However, with the increasing requirements for speed, accuracy and load in application scenarios, the lack of some inherent properties of the robot structure has become the main bottleneck for further improvement of robot performance. For example, the elasticity of t...

Claims

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Application Information

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Patent Type & Authority Patents(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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