Arm type robot control method based on composite learning and robot system

A control method, a technology of a robot, applied in the field of robot systems

Pending Publication Date: 2022-05-10
NAT UNIV OF SINGAPORE +1
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Multiple physical parameters of this type of arm robot are difficult to obtain accurate values ​​t

Method used

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  • Arm type robot control method based on composite learning and robot system
  • Arm type robot control method based on composite learning and robot system
  • Arm type robot control method based on composite learning and robot system

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Embodiment Construction

[0024] The invention provides an adaptive control method of an arm robot based on compound learning and an arm robot system capable of executing the adaptive control method. The control method according to the present invention is suitable for arm robot control, and is not limited by the configuration or accuracy of the arm robot or application scenarios, and can be widely used in the precise control of arm robots in fields such as medical treatment and industrial manufacturing. The arm robot control method according to the present invention can effectively realize the precise control of the arm robot under the condition that the dynamic parameters of the arm robot are unknown. Under weak excitation conditions, the arm robot control method according to the present invention can realize the convergence of estimated parameters to real values, and can effectively enhance the robustness against unmodeled dynamics, making the algorithm more practical.

[0025] In this paper, for th...

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Abstract

The invention relates to an arm type robot control method based on composite learning and a robot system. The control method of the arm type robot comprises the steps that actual measurement parameters of the arm type robot are obtained; obtaining a prediction error based on historical data information of an error between the actually measured parameter and an estimated parameter of the arm type robot; constructing a composite learning parameter updating law according to the tracking error and the prediction error; and according to the composite learning parameter updating law, the driving torque needed by the arm type robot is obtained. The robot system comprises the arm type robot and the driving device connected to the arm type robot, and the driving device can execute the arm type robot control method.

Description

technical field [0001] The invention relates to a device control method and system, in particular to an arm robot control method and robot system based on compound learning. Background technique [0002] An arm robot is usually a mechanical control and execution system that includes multiple degrees of freedom of motion and operates in a non-linear and strongly coupled manner. Multiple physical parameters of this type of arm robot are difficult to obtain accurate values ​​through traditional means, such as computer-aided design model calculation and physical measurement. At the same time, the corresponding sub-parameters in the case of different tasks performed by the arm robot will also change accordingly. For example, the change of the load of the arm robot will affect multiple corresponding physical parameters. Therefore, it is necessary to provide a control method to realize precise control of the arm robot when multiple physical parameters of the arm robot are difficul...

Claims

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Application Information

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IPC IPC(8): B25J9/04B25J9/16
CPCB25J9/04B25J9/1602B25J9/1628
Inventor 喻豪勇潘永平李志文
Owner NAT UNIV OF SINGAPORE
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