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

Pending Publication Date: 2021-12-28
SHENZHEN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] Aiming at the deficiencies of the prior art, the purpose of the present invention is to provide a joint module compliant motion control method based on a dual-stator magneto-modulating motor. And the response speed is slow, and the stability of the contact force cannot be maintained. The system cannot control the force and position at the same time, and the technical problem of the smooth motion control effect required by the joint module cannot be achieved.

Method used

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Examples

Experimental program
Comparison scheme
Effect test

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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PUM

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Abstract

The invention discloses a joint module compliant motion control method based on a double-stator adjustable-magnetic motor, and aims to solve the problems that in the prior art, contact force errors cannot be continuously reduced in the tensioning process, the response speed is low, the stability of contact force cannot be kept, a system cannot control force and positions at the same time, and a compliant motion control effect required by the joint module cannot be achieved. The control method comprises the following steps of 1, filtering force feedback detected at the tail end through an impedance control model; and 2, obtaining a driving torque of a joint motor through a position controller with a formula as shown in the figure. According to the control method, motion is used for compensating the environment contact force, the motion can be regarded as compliance of the joint module to the external environment, and the purpose of constructing the system is achieved, so that the joint module can control force and the position at the same time; and feedback force signals are preprocessed, so that the response speed is high, the stability of the contact force is effectively kept, and then the result is continuously and circularly optimized until the final end condition is met.

Description

technical field [0001] The invention belongs to the technical field of robot control, and in particular relates to a method for controlling the compliant motion of a joint module based on a double-stator magneto-modulating motor. Background technique [0002] In fact, there are very complicated reducers and brake mechanisms in the joints of traditional robots, so the joints are abnormally hypertrophic. However, for those small robots that are being increasingly used in production lines and around equipment, the joints The size becomes very critical. The use of dual-stator magneto-modulating motors can reduce the size of the joint. The joint module connects and integrates the core components of multiple robot joints, integrates them into a modular component, and is designed to be packaged to fit the robot. The 90° corner shape of the joint can be used as a complete joint assembly directly on the mechanical arm of an industrial robot. [0003] At present, the invention patent...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1628B25J9/1633
Inventor 潘剑飞杨桂林张驰王冲冲王璨
Owner SHENZHEN UNIV
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