Industrial robot adaptive admittance control method based on damping ratio model

A technology of industrial robot and control method, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve the problem of low control precision, achieve fast response speed, small force error, and improve precision

Pending Publication Date: 2021-12-03
GUILIN UNIV OF ELECTRONIC TECH
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Problems solved by technology

[0003] What the present invention aims to solve is the problem of low control accuracy in existing intelligent control me

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  • Industrial robot adaptive admittance control method based on damping ratio model
  • Industrial robot adaptive admittance control method based on damping ratio model
  • Industrial robot adaptive admittance control method based on damping ratio model

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Embodiment Construction

[0035] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with specific examples.

[0036] The invention avoids the modeling of the robot, designs an excitation function that can describe the relationship between the force error and the damping ratio, constructs the neural network damping ratio model, dynamically modifies the damping coefficient of the admittance controller, and indirectly adapts to the stiffness change of the terminal environment , and use the reference trajectory to compensate the reference position. In the environment of variable stiffness, constant force control is realized, overshoot caused by contact is reduced, and real-time tracking of the reference trajectory is realized at the same time.

[0037] 1. Robot grinding control model

[0038] The robot needs to track and control the end contact force during the grinding process. The...

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Abstract

The invention discloses an industrial robot adaptive admittance control method based on a damping ratio model, which avoids robot modeling, designs an excitation function and constructs a neural network damping ratio model in admittance control design according to a mechanism relationship between a force error and a system damping ratio, and enables the damping ratio to be adjusted online through the model. The rigidity change of the tail end environment is indirectly adapted, and the admittance control of force-to-position self-adaptive conversion is achieved. Meanwhile, a reference trajectory control method is introduced, and the force tracking control precision is further improved. Compared with conventional admittance control, the force error of self-adaptive admittance control is smaller, the response speed is higher, and the self-adaptive admittance control method can adapt to the unknown grinding environment with variable rigidity.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to an adaptive admittance control method for industrial robots based on a damping ratio model. Background technique [0002] With the development of robot technology, industrial robots are widely used in industrial production processes. In operations such as grinding, the robot needs to be in contact with the surrounding environment to complete the task. Due to the uncertainty of the external environment and the adverse effects caused by the complex workpiece surface, it is difficult to keep the contact force in a stable range during control and eliminate the contact force. The jitter generated when the robot is grinding and polishing, the robot force control algorithm is essential. At present, there are a variety of intelligent control methods. Some literatures have proposed a fuzzy PI (Proportional Integral) impedance control method, which adjusts the reference position...

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 党选举牛嘉晨原翰玫李晓张斌伍锡如张向文龙诗科
Owner GUILIN UNIV OF ELECTRONIC TECH
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