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Flexible joint robot system event trigger control method based on fuzzy observer

A robot system, flexible joint technology, applied in control/regulation systems, adaptive control, general control systems, etc., can solve problems such as increasing energy consumption, data redundancy, etc., to reduce control costs, reduce energy consumption, and save The effect of communication resources

Pending Publication Date: 2022-04-05
NANJING UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this invention application is based on the situation that all the states of the flexible joint manipulator system are measurable. When all the states of the manipulator system are not completely measurable and only the output signal is measurable, this method is no longer applicable
In addition, a large amount of transmitted data will cause data redundancy and increase energy consumption

Method used

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  • Flexible joint robot system event trigger control method based on fuzzy observer
  • Flexible joint robot system event trigger control method based on fuzzy observer
  • Flexible joint robot system event trigger control method based on fuzzy observer

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment

[0074] As a specific embodiment, step 2 includes:

[0075] Define IF-THEN rules and membership functions for fuzzy sets. Design the adaptive fuzzy observer as follows:

[0076]

[0077] in as x(t)=(x 1 (t),x 2 (t),x 3 (t),x 4 (t)) estimates,

[0078]

[0079] The gain matrix L is chosen such that is the Hurwitz matrix, where Γ=(I n ,0,…,0), the matrix L i (i=1,2,3,4) is a diagonal matrix, Δ ω defined as Δ ω =diag(I n , I n / ω,I n / ω 2 , I n / ω 3 ), among them, I n is an n-order unit matrix. is an adaptive parameter, is a fuzzy membership function.

[0080] Proving that the error system is convergent, let

[0081]

[0082] So

[0083]

[0084] Therefore, let Available

[0085]

[0086] Construct the following V function

[0087]

[0088] Satisfy P

[0089]

[0090] Will M -1 (x 1 )(Kx 3 -C(x 1 ,x 2 )x 2 -G(x 1 )-F(x 2 )-Kx 1 ) blurred into Available

[0091]

[0092] in lambda M ( ) represents the largest eig...

Embodiment

[0177] Next, the effectiveness of the design method in the present invention will be verified through a flexible joint robot system with two joints.

[0178]

[0179] Select a reference signal Design the following matrix

[0180]

[0181]

[0182]

[0183]

[0184] The parameter descriptions are shown in Table 1:

[0185] Table 1

[0186] parameter describe value unit parameter describe value unit m 1

Mass of connecting rod 1 2 kg B 1

Damping coefficient 1 none m 2

Mass of connecting rod 2 3 kg B 2

Damping coefficient 1 none l 1

The length of connecting rod 1 1 m K 1

joint stiffness 10 N m / rad l 2

The length of connecting rod 2 1 m K 2

joint stiffness 10 N m / rad J 1

joint flexibility 0.005 m / s 2

g acceleration of gravity 9.8 N / kg J 2

joint flexibility 0.005 m / s 2

[0187] in,

[0188] Construct the foll...

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Abstract

The invention discloses a flexible joint robot system event trigger control method based on a fuzzy observer. The method comprises the following steps: establishing a dynamic equation of a flexible joint robot system; designing an adaptive fuzzy observer according to the output information; designing a virtual control rate based on the fuzzy observer; designing an event triggering mechanism and an output feedback controller; the controller is applied to the flexible joint robot system, and a closed-loop robot system is obtained; and updating self-adaptive parameters in the observer through output data so as to update the controller. According to the method, under the condition that only output information exists, tracking control of the flexible joint robot system within a certain error can be achieved, the method is suitable for a system with an unknown model, communication resources can be effectively saved, and data redundancy is prevented.

Description

technical field [0001] The invention relates to the field of artificial intelligence and control, and more particularly to an event-triggered control method for a flexible joint robot system based on a fuzzy observer. Background technique [0002] With the rise of artificial intelligence technology and robots, robotic systems have been widely used in many fields such as industrial production, aerospace operations, military operations, and medical care. Fundamentally different from traditional rigid joint robots, flexible joint robots have many advantages such as light weight, low power consumption, high load ratio, high precision and compact component design, etc. internal working flaws. However, due to the low stiffness of the flexible components contained in the flexible joint robot, the system is prone to instability during work, and it is easy to cause the vibration of the robot, which greatly increases the difficulty of control. [0003] On the other hand, in many pra...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/02
Inventor 马倩谢迎康徐胜元
Owner NANJING UNIV OF SCI & TECH
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