Joint module compliant motion control method based on double-stator adjustable-magnetic motor
A joint module and motion control technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as slow response speed, inability to reduce contact force error, and the system cannot control force and position at the same time, so as to reduce contact Force error, compliant motion control, fast response effects
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Embodiment 1
[0038] This specific embodiment is a joint module compliant motion control method based on a double-stator magneto-modulating motor, and its steps are as follows:
[0039] Step 1: The force feedback of the end detection is filtered through the impedance control model. According to the fast RLS algorithm, the calculation process is:
[0040] (1) Forward prediction relationship: For an N-order predictor, its instantaneous posterior forward prediction error can be expressed as: , computing the relationship between the posterior and prior forward prediction errors: , the time update equation for the minimum weighted least squares error is: (k-1,N)+ , the update equation of the conversion factor is: (k,N+1)= (k-1,N), the forward prediction tap coefficient vector update equation is: = (k-1,N) ,in The update equation for (k,N+1) is: (k,N+1)= + , a priori refers to using the filter coefficient vector at k-1 time to estimate the output at k time, and a posterio...
Embodiment 2
[0058] This specific embodiment is a joint module compliant motion control method based on a double-stator magneto-modulating motor, and its steps are as follows:
[0059] Step 1: The force feedback of the end detection is filtered through the impedance control model. According to the fast RLS algorithm, the calculation process is:
[0060] (1) Forward prediction relationship: For an N-order predictor, its instantaneous posterior forward prediction error can be expressed as: , computing the relationship between the posterior and prior forward prediction errors: , the time update equation for the minimum weighted least squares error is: (k-1,N)+ , the update equation of the conversion factor is: (k,N+1)= (k-1,N), the forward prediction tap coefficient vector update equation is: = (k-1,N) ,in The update equation for (k,N+1) is: (k,N+1)= + , a priori refers to using the filter coefficient vector at k-1 time to estimate the output at k time, and a posterio...
Embodiment 3
[0078] This specific embodiment is a joint module compliant motion control method based on a double-stator magneto-modulating motor, and its steps are as follows:
[0079] Step 1: The force feedback of the end detection is filtered through the impedance control model. According to the fast RLS algorithm, the calculation process is:
[0080] (1) Forward prediction relationship: For an N-order predictor, its instantaneous posterior forward prediction error can be expressed as: , computing the relationship between the posterior and prior forward prediction errors: , the time update equation for the minimum weighted least squares error is: (k-1,N)+ , the update equation of the conversion factor is: (k,N+1)= (k-1,N), the forward prediction tap coefficient vector update equation is: = (k-1,N) ,in The update equation for (k,N+1) is: (k,N+1)= + , a priori refers to using the filter coefficient vector at k-1 time to estimate the output at k time, and a posterio...
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Abstract
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Application Information
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