一种不依赖于模型的灵巧臂手机器人保性能控制方法
By using a robust adaptive control algorithm, combined with a preset performance function and an adaptive parameter update rate, a controller that does not depend on the system model is designed. This solves the problems of dependency and computational complexity in performance control of dexterous arm robots, and achieves safe, effective, and flexible control.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- CHONGQING UNIV
- Filing Date
- 2024-07-08
- Publication Date
- 2026-07-17
AI Technical Summary
Existing dexterous arm robot performance control algorithms rely on system models, resulting in high conservatism or high computational costs. Furthermore, methods such as deep learning are complex to train and may overfit or underfit, affecting controller performance and generalization ability.
A robust adaptive control algorithm is adopted, combined with a preset performance function and an adaptive parameter update rate, to design a controller that does not depend on the system model. By simplifying the model and separating the model uncertainty using Yang's inequality, the separation and synchronous control of the robotic arm and the multi-finger system are achieved.
It enables the safe and effective operation of dexterous arm robots in external environments, simplifies control system design, reduces computing costs, improves robustness and versatility, and provides flexible control methods.
Smart Images
Figure CN118664595B_ABST