Compliant force control method and system for collaborative robot

Abstract

The invention discloses a compliance control method and system for a collaborative robot, and the method comprises the steps: building a stable force control strategy model of the tail end of the collaborative robot; establishing a rigidity optimization strategy model of the collaborative robot; establishing a singularity avoidance model of the collaborative robot; establishing a real-time control quantity solution model based on the stable force control strategy model, the rigidity optimization strategy model and the singularity avoidance model, and performing real-time control quantity solution to obtain the real-time control quantity of the collaborative robot; and controlling the compliance of the collaborative robot based on the real-time control quantity. In the embodiment of the invention, high-precision control on the contact force can be realized, and the rigidity of the collaborative robot system can be improved in real time, so that flutter is inhibited; the system can be effectively prevented from falling into a singular position type, and meanwhile the joint angle and angular velocity limitation of the robot is met.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a compliance force control method and system of a collaborative robot. Background technique [0002] Collaborative robots have the advantages of good flexibility and flexible human-computer interaction, and have been widely used in industrial, medical and other fields. Among them, compliance force control is the core of collaborative robots to achieve complex tasks, high-quality operations and human-computer interaction. Through the real-time perception of the contact force and the online generation of the control quantity, the robot end effector can be applied to the acting object according to the expected contact force. The existing force control methods for collaborative robots with redundant degrees of freedom are mainly based on the pseudo-inverse calculation of the robot Jacobian matrix. But this approach is difficult to deal with the physical constraints of the sys...

AI Technical Summary

Problems solved by technology

Although this method is intuitive, it is usually difficult to deal with complex system constraints. In terms of stiffness optimization, the current mainstream method generally adopts offline optimization. First, the trajectory of the robot is discretized, and then the stiffness optimization index of the system is established. Through Heuristic algorithm for global optimization

However, it is difficult to extend this method to the scene of force control. The main reason is that due to the unpredictability of the actual force, it is difficult to obtain the expected trajectory of the robot, which makes it difficult to guarantee the force control accuracy of the robot.

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