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A Dynamic Stability Judgment Method and a Dynamic Adaptive Attitude Control Method for a Robot

A dynamic self-adaptive and attitude control technology, applied in the field of dynamic self-adaptive attitude control and robot dynamic stability discrimination, can solve problems such as changes, low robustness, and difficulty in adapting, to overcome attitude errors, improve motion stability, eliminate The effect of the effect of momentary outliers

Active Publication Date: 2022-06-24
南京蔚蓝智能科技有限公司
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Problems solved by technology

Due to the variety of reasons for the attitude deviation of the fuselage and the possibility of change, the problem cannot be completely solved only by calibrating the position of the center of mass and using a higher-precision sensor
For the long-term deviation of the fuselage attitude, the robustness of the traditional method is not high, and it is difficult to adapt to various situations and various causes of problems

Method used

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  • A Dynamic Stability Judgment Method and a Dynamic Adaptive Attitude Control Method for a Robot

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Embodiment Construction

[0035] The specific embodiments of the present invention will be described in more detail below with reference to the schematic diagrams. The advantages and features of the present invention will become more apparent from the following description. It should be noted that, the accompanying drawings are all in a very simplified form and in inaccurate scales, and are only used to facilitate and clearly assist the purpose of explaining the embodiments of the present invention.

[0036] First define the robot coordinate system, take the robot itself as the reference origin, the front is the positive X-axis, the left is the positive Y-axis, and the counterclockwise rotation is positive, that is, the front-rear direction along the X-axis, and the left-right direction along the Y-axis . The rotation angle around the forward axis is represented by the roll angle, and the rotation angle around the right axis is represented by the pitch angle.

[0037] The invention provides a method ...

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Abstract

The invention discloses a method for judging the dynamic stability of a robot. Firstly, a state variable is constructed, and the state variable is divided into an actual state value and a target state value; secondly, the state difference between the actual state value and the target state value is cached in a queue, Finally, the state deviation and variance of the state difference in the cache are calculated to comprehensively evaluate the dynamic stability of the robot, so as to achieve a more accurate and comprehensive evaluation of the stability of the robot during dynamic motion. In addition, it also provides a dynamic adaptive attitude control method for robots. Using dynamic adaptive compensation technology, the compensation item is adjusted in real time using an integral method, and speed-related factors are used to adjust the attitude deviation in different directions caused by speed, which can be dynamically adjusted. Adaptively adjust the attitude of the fuselage to keep the fuselage stable, and improve the attitude control effect of the robot.

Description

technical field [0001] The invention relates to the field of robot motion control, in particular to a robot dynamic stability discrimination method and a dynamic adaptive attitude control method. Background technique [0002] The dynamic stability of a mobile robot refers to the stability of the robot in the process of rapid movement. In order to achieve the ideal high-speed operation effect, the robot needs to control and maintain dynamic balance at all times. The existing method for judging the dynamic stability of mobile robots is mainly the zero moment point (ZMP) method. ZMP is the resultant moment of the ground reaction force about this point, which has only a vertical component and zero horizontal component. By judging the relative position of the ZMP and the support plane To obtain the dynamic stability of the robot, the closer the ZMP is to the center of the support plane, the more stable it is, and the ZMP outside the support plane is considered completely unstable...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J19/00B25J9/16
CPCB25J19/00B25J19/0095B25J9/16
Inventor 不公告发明人
Owner 南京蔚蓝智能科技有限公司
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