Adaptive finite-time manipulator disturbance observation method, system, device and medium

Abstract

The present application discloses an adaptive finite-time manipulator disturbance observation method, system, device and medium, which mainly relates to the technical field of manipulator disturbance observation, and is used to solve the problems that the existing observers involve restrictions on "derivative being 0" and "known upper bound" and the implementation process is cumbersome. It includes: obtaining a preset trend factor, a robot inertia matrix, a robot Coriolis force and centripetal force matrix, a robot gravity torque, and a robot speed; calculating a preset auxiliary state variable through the preset trend factor, the robot inertia matrix, the robot Coriolis force and centripetal force matrix, the robot gravity torque, and the robot speed; importing the preset auxiliary state variable, the preset trend factor, the robot inertia matrix, and the robot speed into the expression of a preset observer to obtain the disturbance output value of the observer.

Description

Technical Field

[0001] This application relates to the technical field of robotic arm disturbance observation, and particularly to an adaptive finite-time robotic arm disturbance observation method, system, device and medium. Background Art

[0002] Nonlinearity, disturbances, uncertainties and other factors widely exist in robot systems, resulting in unsatisfactory control effects. In control strategies based on dynamic models, uncertainty and disturbance compensation are very important.

[0003] In practical applications, the robot models used in the design of controllers are not accurate, and there is still a certain degree of uncertainty, which needs to be compensated and controlled. Usually, an observer is used to solve this problem. Traditional observer design requires restrictive conditions such as assuming that the derivative change is 0 and the upper bound of known uncertainty, which limits the observation accuracy of the observer. At the same time, the convergence speed of traditional observers is relatively slow. In addition, there are distributed computing schemes such as: obtaining the working state of a single robotic arm model, obtaining the state space equation of the single robotic arm model according to the working state of the single robotic arm model; converting the state space equation of the single robotic arm model to construct a multi-robotic arm model; establishing a multi-robotic arm model distributed interval observer based on the multi-robotic arm model according to the first theoretical framework network; obtaining observation data through the multi-robotic arm model distributed interval observer, but the above scheme is computationally complex and the implementation process is cumbersome.

[0004] Therefore, there is an urgent need for an adaptive finite-time robotic arm disturbance observation method, system, device and medium to eliminate the limitations of the "derivative is 0" and "known upper bound" involved in the existing observers and the cumbersome implementation process of the existing solutions. Summary of the Invention

[0005] In view of the above deficiencies of the prior art, this application provides an adaptive finite-time robotic arm disturbance observation method, system, device and medium to solve the problems of the "derivative is 0" and "known upper bound" limitations involved in the existing observers and the cumbersome implementation process of the existing solutions.

[0006] In a first aspect, this application provides an adaptive finite-time robotic arm disturbance observation method, the method including: obtaining a preset trend factor, a robot inertia matrix, a robot Coriolis force and centripetal force matrix, a robot gravity torque, and a robot velocity; calculating a preset auxiliary state variable through the preset trend factor, the robot inertia matrix, the robot Coriolis force and centripetal force matrix, the robot gravity torque, and the robot velocity; importing the preset auxiliary state variable, the preset trend factor, the robot inertia matrix, and the robot velocity into an expression of a preset observer to obtain a disturbance output value of the observer.

[0007] Further, obtain a preset trend factor, a robot inertia matrix, a robot Coriolis force and centripetal force matrix, a robot gravity moment, and a robot speed, specifically including: obtaining the preset trend factor, the robot inertia matrix, the robot Coriolis force and centripetal force matrix, the robot gravity moment, and the robot speed through a preset data acquisition interface.

[0008] Further, calculate a preset auxiliary state variable through the preset trend factor, the robot inertia matrix, the robot Coriolis force and centripetal force matrix, the robot gravity moment, and the robot speed, specifically including:

[0009] Through the formula:

[0010] , calculate to obtain the preset auxiliary state variable.

[0011] Among them, p represents the preset auxiliary state variable, represents the derivative of p; k represents the preset trend factor, represents the control torque, R represents a preset real number matrix, n represents the number of rows corresponding to the preset real number matrix, represents the robot Coriolis force and centripetal force matrix, represents the robot gravity moment, represents the robot speed, represents the disturbance output value;

[0012] ∈ R represents a preset positive real number, represents the auxiliary vector, and ;

[0013] represents the first estimated value, and , represents a preset positive real number, represents the sliding mode variable, and , z represents a preset constant, represents the robot inertia matrix, represents the second estimated value, and , represents a preset positive real number.

[0014] Further, import the preset auxiliary state variable, the preset trend factor, the robot inertia matrix, and the robot speed into the expression of a preset observer to obtain the disturbance output value of the observer, specifically including:

[0015] Through the formula: , calculate to obtain the disturbance output value of the observer; among them, represents the disturbance output value, p represents the preset auxiliary state variable, k represents the preset trend factor, denotes the robot inertia matrix, denotes the robot velocity.

[0016] In a second aspect, the present application provides an adaptive finite-time manipulator disturbance observation system. The system includes: an acquisition module, configured to acquire a preset trend factor, a robot inertia matrix, a robot Coriolis force and centripetal force matrix, a robot gravity torque, and a robot velocity; a calculation module, configured to calculate a preset auxiliary state variable through the preset trend factor, the robot inertia matrix, the robot Coriolis force and centripetal force matrix, the robot gravity torque, and the robot velocity; and an obtaining module, configured to import the preset auxiliary state variable, the preset trend factor, the robot inertia matrix, and the robot velocity into an expression of a preset observer to obtain a disturbance output value of the observer.

[0017] Further, the acquisition module includes an acquisition unit, configured to acquire the preset trend factor, the robot inertia matrix, the robot Coriolis force and centripetal force matrix, the robot gravity torque, and the robot velocity through a preset data acquisition interface.

[0018] Further, the calculation module includes a calculation unit, configured to calculate the preset auxiliary state variable through the formula:

[0019] , where p represents the preset auxiliary state variable, denotes the derivative of p; k represents the preset trend factor, represents the control torque, R represents a preset real matrix, n represents the number of rows corresponding to the preset real matrix, denotes the robot Coriolis force and centripetal force matrix, denotes the robot gravity torque, denotes the robot velocity, denotes the disturbance output value, ∈R represents a preset positive real number;

[0020] denotes an auxiliary vector, and ;

[0021] denotes a first estimated value, and , represents a preset positive real number;

[0022] denotes a sliding mode variable, and z represents a preset constant, denotes the robot inertia matrix, denotes a second estimated value, and , represents a preset positive real number.

[0023] Further, the obtaining module includes an obtaining unit for calculating and obtaining the disturbance output value of the observer through the formula:

[0024] , where the disturbance output value is calculated; where, represents the disturbance output value, p represents a preset auxiliary state variable, k represents a preset trend factor, represents the robot inertia matrix, represents the robot speed.

[0025] In a third aspect, the present application provides an adaptive finite-time manipulator disturbance observation device, which includes: a processor; and a memory, on which executable code is stored, and when the executable code is executed, the processor is caused to execute an adaptive finite-time manipulator disturbance observation method as described in any one of the above.

[0026] In a fourth aspect, the present application provides a non-volatile computer storage medium, on which computer instructions are stored, and when the computer instructions are executed, an adaptive finite-time manipulator disturbance observation method as described in any one of the above is implemented.

[0027] Those skilled in the art can understand that the present application has at least the following beneficial effects:

[0028] The present application does not involve "derivative is 0" and "known upper bound", and solves the limitations of the observer involved in the existing solutions on "derivative is 0" and "known upper bound".

[0029] In addition, the present application involves fewer formulas and does not involve the operation of algorithms, solving the problem of cumbersome implementation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The following describes some embodiments of the present disclosure with reference to the drawings, in which:

[0031] Figure 1 is a flowchart of an adaptive finite-time manipulator disturbance observation method provided by an embodiment of the present application.

[0032] Figure 2 is a schematic internal structure diagram of an adaptive finite-time manipulator disturbance observation system provided by an embodiment of the present application.

[0033] Figure 3 is a schematic internal structure diagram of an adaptive finite-time manipulator disturbance observation device provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0034] Those skilled in the art should understand that the embodiments described below are only the preferred embodiments of the present disclosure, and do not mean that the present disclosure can only be implemented through these preferred embodiments. These preferred embodiments are only used to explain the technical principles of the present disclosure and are not used to limit the protection scope of the present disclosure. Based on the preferred embodiments provided by the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts should still fall within the protection scope of the present disclosure.

[0035] It should also be noted that the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, commodity or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, commodity or device including the element.

[0036] The technical solutions proposed in the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0037] The embodiments of the present application provide an adaptive finite-time manipulator disturbance observation method, as Figure 1 shown, the method provided by the embodiments of the present application mainly includes the following steps:

[0038] Step 110: Obtain a preset trend factor, a robot inertia matrix, a robot Coriolis force and centripetal force matrix, a robot gravity torque, and a robot speed.

[0039] It should be noted that the robot inertia matrix, the robot Coriolis force and centripetal force matrix, and the robot gravity torque in the prior art are all composed of a determined part and an uncertain part. The robot inertia matrix, the robot Coriolis force and centripetal force matrix, and the robot gravity torque involved in the present application herein all refer to the determined part, and the uncertain part does not participate in the operation.

[0040] As an example, this step can be specifically:

[0041] Obtain a preset trend factor, a robot inertia matrix, a robot Coriolis force and centripetal force matrix, a robot gravity torque, and a robot speed through a preset data acquisition interface.

[0042] Step 120: Calculate a preset auxiliary state variable through the preset trend factor, the robot inertia matrix, the robot Coriolis force and centripetal force matrix, the robot gravity torque, and the robot speed.

[0043] As an example, this step can be specifically:

[0044] Through the formula:

[0045] , the preset auxiliary state variable is calculated and obtained.

[0046] Among them, p represents the preset auxiliary state variable, represents the derivative of p; k represents the preset trend factor, represents the control torque, R represents the preset real matrix, n represents the number of rows corresponding to the preset real matrix, represents the Coriolis force and centripetal force matrix of the robot, represents the gravity torque of the robot, represents the robot speed, represents the disturbance output value; ∈R represents the preset positive real number, represents the auxiliary vector, and , represents the first estimated value, and , represents the preset positive real number, represents the sliding mode variable, and , z represents the preset constant, represents the inertia matrix of the robot, represents the second estimated value, and , represents the preset positive real number.

[0047] Step 130: Import the preset auxiliary state variable, the preset trend factor, the inertia matrix of the robot, and the robot speed into the expression of the preset observer to obtain the disturbance output value of the observer.

[0048] As an example, this step can be specifically:

[0049] Through the formula: , calculate and obtain the disturbance output value of the observer;

[0050] Among them, represents the disturbance output value, p represents the preset auxiliary state variable, k represents the preset trend factor, represents the inertia matrix of the robot, represents the robot speed.

[0051] In addition, Figure 2 is an adaptive finite-time manipulator disturbance observation system provided by an embodiment of the present application. As Figure 2 shown, the system provided by the embodiment of the present application mainly includes:

[0052] An acquisition module 210, configured to acquire a preset trend factor, an inertia matrix of the robot, a Coriolis force and centripetal force matrix of the robot, a gravity torque of the robot, and a robot speed.

[0053] The acquisition module 210 includes an acquisition unit:

[0054] It is used to acquire a preset trend factor, a robot inertia matrix, a robot Coriolis force and centripetal force matrix, a robot gravity torque, and a robot speed through a preset data acquisition interface.

[0055] A calculation module 220 is used to calculate and obtain a preset auxiliary state variable through the preset trend factor, the robot inertia matrix, the robot Coriolis force and centripetal force matrix, the robot gravity torque, and the robot speed.

[0056] The calculation module 220 includes a calculation unit:

[0057] It is used to calculate through the formula:

[0058] to calculate and obtain a preset auxiliary state variable.

[0059] Where p represents the preset auxiliary state variable, represents the derivative of p; k represents the preset trend factor, represents the control torque, R represents a preset real number matrix, n represents the number of rows corresponding to the preset real number matrix, represents the robot Coriolis force and centripetal force matrix, represents the robot gravity torque, represents the robot speed, represents the disturbance output value; ∈R represents a preset positive real number, represents an auxiliary vector, and , represents the first estimated value, and , represents a preset positive real number, represents the sliding mode variable, and , z represents a preset constant, represents the robot inertia matrix, represents the second estimated value, and , represents a preset positive real number.

[0060] An acquisition module 230 is used to import the preset auxiliary state variable, the preset trend factor, the robot inertia matrix, and the robot speed into the expression of a preset observer to obtain the disturbance output value of the observer.

[0061] The acquisition module 230 includes an acquisition unit:

[0062] It is used to calculate and obtain the disturbance output value of the observer through the formula: to calculate and obtain the disturbance output value of the observer.

[0063] Among them, represents the disturbance output value, p represents the preset auxiliary state variable, and k represents the preset trend factor. represents the robot inertia matrix, represents the robot speed.

[0064] The above is the method embodiment in the present application. Based on the same inventive concept, the embodiment of the present application also provides an adaptive finite-time manipulator disturbance observer device. As Figure 3 shown, the device includes: a processor; and a memory, on which executable code is stored. When the executable code is executed, the processor is caused to execute an adaptive finite-time manipulator disturbance observation method as in the above embodiment.

[0065] Specifically, the server-side obtains the preset trend factor, the robot inertia matrix, the robot Coriolis force and centripetal force matrix, the robot gravity torque, and the robot speed; calculates the preset auxiliary state variable through the preset trend factor, the robot inertia matrix, the robot Coriolis force and centripetal force matrix, the robot gravity torque, and the robot speed; and imports the preset auxiliary state variable, the preset trend factor, the robot inertia matrix, and the robot speed into the expression of the preset observer to obtain the disturbance output value of the observer.

[0066] In addition, the embodiment of the present application also provides a non-volatile computer storage medium, on which executable instructions are stored. When the executable instructions are executed, an adaptive finite-time manipulator disturbance observation method as described above is implemented.

[0067] So far, the technical solutions of the present disclosure have been described in combination with multiple foregoing embodiments. However, it is easy for those skilled in the art to understand that the protection scope of the present disclosure is not limited to these specific embodiments. Without departing from the technical principle of the present disclosure, those skilled in the art can split and combine the technical solutions in the above various embodiments, and can also make equivalent changes or substitutions to the relevant technical features. Any changes, equivalent substitutions, improvements, etc. made within the technical concept and / or technical principle of the present disclosure will fall within the protection scope of the present disclosure.

Claims

1. An adaptive finite-time manipulator disturbance observation method, characterized in that, The method includes: Obtaining a preset trend factor, a robot inertia matrix, a robot Coriolis force and centripetal force matrix, a robot gravity torque, and a robot velocity; Calculating and obtaining a preset auxiliary state variable through the preset trend factor, the robot inertia matrix, the robot Coriolis force and centripetal force matrix, the robot gravity torque, and the robot velocity; Importing the preset auxiliary state variable, the preset trend factor, the robot inertia matrix, and the robot velocity into the expression of a preset observer to obtain the disturbance output value of the observer; Calculating and obtaining the preset auxiliary state variable through the preset trend factor, the robot inertia matrix, the robot Coriolis force and centripetal force matrix, the robot gravity torque, and the robot velocity, specifically including: Through the formula: , calculate to obtain a preset auxiliary state variable; where p represents a preset auxiliary state variable, denotes the derivative of p; k represents a preset trend factor, represents the control torque, R represents a preset real matrix, and n represents the number of rows corresponding to the preset real matrix, denotes the Coriolis force and centripetal force matrix of the robot, denotes the gravity torque of the robot, denotes the robot velocity, denotes the disturbance output value; ∈R represents a preset positive real number, denotes the auxiliary vector, and , denotes the first estimated value, and , represents a preset positive real number, denotes the sliding mode variable, and , z represents a preset constant, denotes the inertia matrix of the robot, denotes the second estimated value, and , represents a preset positive real number.

2. The adaptive finite-time robotic arm disturbance observation method according to claim 1, wherein Obtaining the preset trend factor, the robot inertia matrix, the robot Coriolis force and centripetal force matrix, the robot gravity torque, and the robot velocity, specifically including: Obtaining the preset trend factor, the robot inertia matrix, the robot Coriolis force and centripetal force matrix, the robot gravity torque, and the robot velocity through a preset data acquisition interface.

3. The adaptive finite-time manipulator disturbance observation method according to claim 1, characterized in that, Importing the preset auxiliary state variable, the preset trend factor, the robot inertia matrix, and the robot velocity into the expression of the preset observer to obtain the disturbance output value of the observer, specifically including: Through the formula: , calculate and obtain the disturbance output value of the observer; Among them, represents the disturbance output value, p represents the preset auxiliary state variable, and k represents the preset trend factor. represents the robot inertia matrix, represents the robot speed.

4. An adaptive finite-time manipulator disturbance observation system, characterized in that, The system includes: An acquisition module for obtaining a preset trend factor, a robot inertia matrix, a robot Coriolis force and centripetal force matrix, a robot gravity torque, and a robot velocity; A calculation module for calculating and obtaining a preset auxiliary state variable through the preset trend factor, the robot inertia matrix, the robot Coriolis force and centripetal force matrix, the robot gravity torque, and the robot velocity; An obtaining module for importing the preset auxiliary state variable, the preset trend factor, the robot inertia matrix, and the robot velocity into the expression of the preset observer to obtain the disturbance output value of the observer; The calculation module includes a calculation unit, For through the formula: , calculate to obtain a preset auxiliary state variable; where p represents a preset auxiliary state variable, denotes the derivative of p; k represents a preset trend factor, represents the control torque, R represents a preset real matrix, n represents the number of rows corresponding to the preset real matrix, denotes the Coriolis force and centripetal force matrix of the robot, denotes the gravity torque of the robot, denotes the robot speed, denotes the disturbance output value; ∈R represents a preset positive real number, denotes the auxiliary vector, and , denotes the first estimated value, and , represents a preset positive real number, denotes the sliding mode variable, and , z represents a preset constant, denotes the inertia matrix of the robot, denotes the second estimated value, and , represents a preset positive real number.

5. The adaptive finite-time manipulator disturbance observation system according to claim 4, characterized in that The acquisition module includes an acquisition unit, For obtaining the preset trend factor, the robot inertia matrix, the robot Coriolis force and centripetal force matrix, the robot gravity torque, and the robot velocity through a preset data acquisition interface.

6. The adaptive finite-time robotic arm disturbance observation system according to claim 4, characterized in that The obtaining module includes an obtaining unit, For calculating and obtaining the disturbance output value of the observer through the formula: , Among them, represents the disturbance output value, p represents the preset auxiliary state variable, and k represents the preset trend factor. represents the robot inertia matrix. represents the robot speed.

7. An adaptive finite-time manipulator disturbance observation device, characterized in that, The device includes: A processor; And a memory, on which executable code is stored, and when the executable code is executed, the processor executes an adaptive finite-time manipulator disturbance observation method according to any one of claims 1-3.

8. A non-volatile computer storage medium, characterized in that, On which computer instructions are stored, and the computer instructions, when executed, implement an adaptive finite-time manipulator disturbance observation method according to any one of claims 1-3.

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