Robot control method with optimal energy

Abstract

The invention discloses a robot control method with optimal energy. The method comprises the following steps that the state variable of a robot and the control torque of the robot are initialized; the current robot state is read through a robot sensor; a Jacobian matrix and a reference acceleration at the current moment are obtained through calculation; the inequality constraints of the current robot state are uniformly described in an acceleration layer, and an upper bound and a lower bound are determined; convex optimization processing is conducted on a to-be-optimized function, and a final constraint optimization model is obtained; a dynamic neural network is adopted to update the current robot state and the control torque, and the updated robot state and the updated control torque are obtained; based on the updated robot state and the control torque, whether the working time of the robot is longer than preset time or not is judged; and if not, the control torque is executed, and returning to the robot sensor is conducted so that the current robot state is read. In the implementation of the robot control method with optimal energy, the method is optimal in energy and high in efficiency.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to an energy-optimized robot control method. Background technique [0002] Robots have been widely used in industrial production, aerospace, agriculture and other fields, and play an important role in the realization of intelligent manufacturing; under the great demand of low-carbon environmental protection, energy saving and emission reduction, while completing the high-performance control of robots, reduce the energy consumption of robots ,has great significance. At present, the energy optimization research for robots is mainly concentrated in the trajectory planning stage. Although energy optimization can be achieved, this solution is completed offline, which restricts the work efficiency of the robot; The energy optimization scheme of the drive system considers some inequality constraints of the robot, but does not consider the joint torque limit of the manipulator. At th...

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Problems solved by technology

At present, the energy optimization research for robots is mainly concentrated in the trajectory planning stage. Although energy optimization can be achieved, this solution is completed offline, which restricts the work efficiency of the robot; The energy optimization scheme of the drive system considers some inequality constraints of the robot, but does not consider the joint torque limit of the manipulator. At the same time, this method directly inverts the Jacobian matrix of the robot, which leads to slow calculation and high cost. question

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