A Compliant Control Method of Robot Joint Servo Motor

A robot joint and compliance control technology, which is applied in the direction of motor generator control, motor control, AC motor control, etc., can solve the problems of slow system adjustment time and overshoot, so as to solve the problem of overshoot, reduce dynamic adjustment time, Effect of Improving Dynamic Scaling Performance

Active Publication Date: 2022-04-01
UNIV OF SCI & TECH BEIJING
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  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

High-precision robot joints mostly adopt the method of permanent magnet synchronous motor and vector control (including motor voltage, current, etc.). adjust

Method used

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  • A Compliant Control Method of Robot Joint Servo Motor
  • A Compliant Control Method of Robot Joint Servo Motor
  • A Compliant Control Method of Robot Joint Servo Motor

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Embodiment Construction

[0060] In order to make the object, technical solution and advantages of the present invention clearer, the implementation manner of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0061] like figure 1 As shown, the embodiment of the present invention provides a robot joint servo motor compliance control method, the method includes:

[0062] S101, establishing a permanent magnet synchronous motor mathematical model that meets the robot joint compliance control standard;

[0063] S102, according to the established mathematical model of the permanent magnet synchronous motor, determine the balance relationship between the angular momentum of the motor rotor and the torque impulse;

[0064] S103, if the load torque at the end of the robot joint changes suddenly, determine whether the load torque variation exceeds a preset threshold;

[0065] S104, if the preset threshold value is exceeded, determine the time for i...

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Abstract

The invention provides a compliance control method of a robot joint servo motor, which belongs to the field of robot joint control. The method includes: establishing a permanent magnet synchronous motor mathematical model that meets the robot joint compliance control standard; according to the established permanent magnet synchronous motor mathematical model, determining the balance relationship between the angular momentum of the motor rotor and the torque impulse; Torque sudden change, judging whether the load torque variation exceeds the preset threshold; if it exceeds the preset threshold, according to the established mathematical model of the permanent magnet synchronous motor and the determined balance relationship between the angular momentum of the motor rotor and the torque impulse , to determine the moment of inverter vector transformation. By adopting the invention, the dynamic adjustment time of the robot joint servo control system when the load torque at the end of the robot joint changes suddenly can be significantly reduced.

Description

technical field [0001] The invention relates to the field of robot joint control, in particular to a compliance control method of a robot joint servo motor. Background technique [0002] Jointed robots, also known as jointed arm robots or jointed mechanical arms, are one of the most common forms of industrial robots in today's industrial fields, and are suitable for mechanical automation operations in many industrial fields. For example, for automatic assembly, painting, handling, welding, etc., joint robots are driven by motors, and high-precision permanent magnet synchronous motor vector control systems are used to achieve high-precision control of robot joints. [0003] The permanent magnet synchronous motor (PMSM) has the advantages of small size, small inertia, fast response, and high efficiency. High-precision robot joints mostly adopt the method of permanent magnet synchronous motor and vector control (including motor voltage, current, etc.). Tune. Contents of the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02P21/14H02P21/18H02P21/20H02P25/022H02P27/06
CPCH02P21/14H02P21/18H02P21/20H02P25/022H02P27/06H02P2207/05
Inventor 潘月斗张亚涛
Owner UNIV OF SCI & TECH BEIJING
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