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Robot control method and device based on adaptive fuzzy virtual model

An adaptive fuzzy and virtual model technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as follow-up changes and unrealized parameters, achieve strong flexibility, improve anti-interference ability, improve stability and robustness sticky effect

Active Publication Date: 2022-04-26
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the existing virtual model control does not realize the follow-up change of parameters

Method used

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  • Robot control method and device based on adaptive fuzzy virtual model
  • Robot control method and device based on adaptive fuzzy virtual model
  • Robot control method and device based on adaptive fuzzy virtual model

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Embodiment Construction

[0069] Embodiments of the invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

[0070] Such as figure 1 Shown, a kind of robot control method based on adaptive fuzzy virtual model of the present invention comprises:

[0071] S1. The adaptive fuzzy virtual model controller receives the actual trajectory of the foot end of the robot, and based on the expected trajectory and actual trajectory error e of the foot end and the expected velocity and actual velocity error of the foot end Build a virtual model.

[0072] This embodiment takes a quadruped robot as an example, and the structure of the quadruped robot is a full elbow type, such as figure 2 As shown, each leg of a quadruped robot has 3 joints, which are controlled comprehensively by these 12...

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Abstract

The invention discloses a robot control method and device based on a self-adaptive fuzzy virtual model, and the method comprises the steps: receiving a foot end actual track of a robot through a self-adaptive fuzzy virtual model controller, and building a virtual model based on a foot end expected track, an actual track error e, a foot end expected speed and an actual speed error; the adaptive fuzzy virtual model controller carries out fuzzy adjustment and optimization on parameters of the virtual model; and the adaptive fuzzy virtual model controller generates control information and sends the control information to the robot to control the foot end track of the robot. Compared with a traditional VMC, the method has a better foot end trajectory tracking effect, and the stability and interference resistance of the quadruped robot are improved.

Description

technical field [0001] The invention relates to robot control technology, in particular to a robot control method and device based on an adaptive fuzzy virtual model. Background technique [0002] Legged robots can have better flexibility and adaptability in unstructured environments. In the field of legged robots, biped robots are not stable enough, and hexapods and above lack the flexibility of quadruped robots. Therefore, quadruped robots have become a new research hotspot. [0003] Quadruped robot is a nonlinear dynamic system of MIMO. So far, there are three commonly used control methods for quadruped robots, central nervous system control, virtual model control and zero moment point control method. The control method based on Zero Moment Point (ZMP) can achieve stable walking and has advantages in anti-interference. However, because it needs to investigate the position of its center of mass in real time and solve the joint trajectory through inverse kinematics, the ca...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J13/00
CPCB25J9/1664B25J13/00
Inventor 眭耀宇杨忠游雨龙许昌亮
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS