Friction compensation method and device, electronic equipment and storage medium
A compensation method and friction force technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as few feature dimensions, single learning algorithm, and inaccurate friction force compensation values, so as to optimize the manipulator and predict torque correction. The effect of accurate value and accurate friction compensation value
Active Publication Date: 2022-02-22
JIHUA LAB
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Problems solved by technology
[0003] In the prior art, most of the mechanical arm prediction models based on the friction force only consider the current motion parameters of the mechanical arm to predict the impact of the friction force on the mechanical arm, and do not fully consider the historical motion state of the mechanical arm. For the established For the prediction model, the input feature dimension is less, so that the output friction compensation value is not accurate enough
[0004] In addition, only a single learning algorithm (learner) is used in most predictive models, resulting in poor generalization ability
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[0049] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all of them. The components of the embodiments of the application generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Accordingly, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative efforts belong to the scope of protection of the present application.
[0050] It should ...
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The invention relates to the field of mechanical arm control, in particular to a friction force compensation method and device, electronic equipment and a storage medium. The friction force compensation method comprises the following steps that the state data of each shaft of a mechanical arm is obtained, wherein the state data comprises planning parameters and historical parameters; the state data is inputted into a trained prediction model to obtain a predicted torque correction value, wherein the prediction model comprises at least one primary learner and a secondary learner; and the predicted torque correction value is input into a torque feed-forward value of the mechanical arm, so that the mechanical arm works according to the torque feed-forward value. According to the method, the planning parameters and the historical parameters can be combined, so that factors considered by the output result of the prediction model are more sufficient and comprehensive, and the risk of uncertainty is effectively reduced; and meanwhile, the two learners are arranged, so that the output result of the model is more accurate.
Description
technical field [0001] The invention relates to the field of mechanical arm control, in particular to a friction compensation method, device, electronic equipment and storage medium. Background technique [0002] The mechanical arm is inevitably affected by the friction between the mechanisms during the movement process, resulting in structural wear and motion errors. Therefore, considering the friction of the mechanical arm, how to establish a model to eliminate (compensate) the friction force on the movement process of the mechanical arm has become a hot issue in optimizing the dynamic performance of the manipulator. [0003] In the prior art, most of the mechanical arm prediction models based on the friction force only consider the current motion parameters of the mechanical arm to predict the impact of the friction force on the mechanical arm, and do not fully consider the historical motion state of the mechanical arm. For the established For the prediction model, the i...
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IPC IPC(8): B25J9/16B25J13/00
CPCB25J9/1641B25J9/161B25J9/163B25J13/00
Inventor 张校志许泳
Owner JIHUA LAB