Robot decentralized robust tracking control method and system and storage medium
A tracking control and robust controller technology, applied in general control systems, control/regulation systems, adaptive control, etc., can solve problems such as damage to robot performance, human body hazards, damage to robot parts, etc., and achieve real-time interactive control. , the effect of improving control efficiency and accuracy
Active Publication Date: 2021-06-11
CHANGCHUN UNIV OF TECH
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Problems solved by technology
During the process of physical human-computer interaction between the robot and humans, the end of the robot or the joint link of the robot will frequently interact with the unknown environment. If the correct measures for the current environmental task cannot be taken in real time, the robot part will be damaged Parts will destroy the performance of the robot, and more seriously, it will cause harm to the human body that the robot interacts with
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[0067] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
[0068] The purpose of the present invention is to provide a robot decentralized robust tracking control method, system and storage medium capable of recognizing human motion intention and then effectively controlling the robot.
[0069] In order to make the above objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail below with reference to the accomp...
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The invention relates to a robot decentralized robust tracking control method and system and a storage medium. According to the robot decentralized robust tracking control method, an RBF neural network is adopted to identify a human motion intention of a Cartesian space, then a decentralized robust controller is constructed according to an obtained dynamic model and the determined human motion intention, and finally, a robot joint space is determined by using a mapping relation between a modular robot joint space and the Cartesian space. The constructed decentralized robust controller is adopted to control the motion of the joints of the modular robot according to the human motion intention, so that the purpose of identifying the human motion intention is achieved, real-time interaction control of the human and the modular robot is realized, and the control efficiency and accuracy of the motion trail of the modular robot are improved while the real-time interaction control of the human and the modular robot is realized, and the modular robot can completely conform to the control intention of human beings.
Description
technical field [0001] The invention relates to the field of robot control, in particular to a method, a system and a storage medium for decentralized robust tracking control of a robot. Background technique [0002] Modular robots consist of power sources, reducers, actuators, sensors and computer systems. These modules can be assembled to predetermined parameters with standard mechanical interfaces to meet the needs of various tasks. From this advantage, modular robots are often used to replace humans in complex and dangerous work environments, such as disaster relief, exploration, and high-temperature operations. [0003] An important feature of modular robots is that the modules of the robot can be added / deleted and replaced without adjusting the control parameters of other modules. Furthermore, for the modular robot system, there are information exchange restrictions between the subsystems and the controller, so the centralized control is unreliable for the modular ro...
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IPC IPC(8): G05B13/04
CPCG05B13/042Y02P90/02
Inventor 董博王悦西安天骄刘克平李洪文李元春
Owner CHANGCHUN UNIV OF TECH