一种采用自适应摩擦力补偿的绳索牵引并联机器人混合阻抗控制方法
By employing a hybrid impedance control method with adaptive friction compensation, combining a sliding mode impedance control framework with an adaptive radial basis neural network, the problem of difficulty in modeling the friction force of rope-traction parallel robots is solved, achieving high-precision and safe control.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- UNIV OF SCI & TECH OF CHINA
- Filing Date
- 2024-02-27
- Publication Date
- 2026-07-17
AI Technical Summary
In motion control, rope-driven parallel robots suffer from insufficient control accuracy and safety due to the difficulty in modeling frictional forces, especially in human-robot collaborative scenarios where potential risks exist.
A hybrid impedance control method with adaptive friction compensation is adopted, which combines a sliding mode impedance control framework with an adaptive radial basis neural network to establish a friction compensation model. The friction interference is reduced by adaptive laws and augmented sliding surfaces, thereby improving control accuracy and safety.
It achieves high-precision and safe control of rope-traction parallel robots in human-machine collaborative scenarios, reduces chattering in sliding mode control, and improves control accuracy and safety.
Smart Images
Figure CN118061166B_ABST