An Adaptive Force Tracking Control Method Based on Iterative Learning

Abstract

The present invention relates to an adaptive force tracking control method based on iterative learning, comprising the following steps: firstly, designing an adaptive dynamic compensation controller according to a regression model; secondly, estimating environmental feedforward force, environmental impedance parameters and The reference trajectory; then, design the contact model compensation controller according to the estimated environmental information; finally, the adaptive dynamic compensation controller and the contact model compensation controller are superimposed to obtain the adaptive force tracking controller required for the interaction between the robot and the environment, and realize the automatic Adaptive tracking control. The invention does not need to accurately identify the dynamic parameters of the robot, can realize the compensation of the nonlinear robot dynamic model, and then realize the accurate tracking of the reference trajectory, and realize the stability of the robot to the unknown environment without installing a force sensor force tracking, and is highly robust to environmental position information and stiffness parameters.

Description

technical field [0001] The invention relates to the field of robots, in particular to an adaptive force tracking control method based on iterative learning, which is especially suitable for force control and force interaction between a robot and an unknown environment. Background technique [0002] Contact with the environment during operation has become one of the important fields of robot application, such as grinding, polishing, assembly and so on. For these tasks, the traditional position control can no longer meet the needs, and a small trajectory error may cause the end of the robot to break away from the contact surface or cause excessive contact force between the end of the robot and the contact surface, resulting in damage to the robot or the workpiece. In order to solve the above problems, the force tracking technology of robots has emerged as the times require, especially the force tracking technology in unstructured environments. [0003] At present, force track...

AI Technical Summary

Problems solved by technology

However, this method generally estimates unknown environmental information on the basis of prior information, and there are often errors in the identification process, so that a good force tracking control effect cannot be obtained; the second method is to directly adjust the reference trajectory. In order to directly adjust the reference trajectory through prior information

However, this method often produces large force tracking errors because it does not consider the dynamic physical characteristics of the robot end when it is in contact with the environment; the third method is a method of adjusting impedance parameters. Feedback information adjusts the impedance parameters of the robot to achieve force tracking control

However, the stability of this control method is poor, and it is difficult to prove the stability theoretically.

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