A control method for a robot system

By analyzing the stress source data and energy release characteristics of the robot in real time, predicting future energy changes, and adjusting driving force and control parameters, the problems of stress changes and path deviations of the robot in complex environments are solved, and high-precision and stable operation are achieved.

CN119407800BActive Publication Date: 2025-03-18山西兰一科技有限公司
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Patent Information

Application Number
CN202510027788.3
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2025-01-08
Publication Date
2025-03-18
Estimated Expiration
2045-01-08

AI Technical Summary

Technical Problem

The existing robot control technology has insufficient adaptability to stress and driving forces, which makes it difficult for the robot to adapt to instantly changing stress in complex environments, reduces operating accuracy, and is difficult to effectively deal with path deviations.

Method used

By obtaining the torque sensor signals of the robot joints and connecting rods, the impact of each stress source is evaluated, the stress source data is generated, and the energy release characteristics are analyzed, the future energy change trend is predicted, the driving force is adjusted in real time, and the control parameters are optimized to adapt to stress changes and path deviations.

Benefits of technology

It improves the adaptability and operating accuracy of the robot in complex environments, achieves high accuracy and stable path follow-up, and enhances the operation stability and reliability of the robot.

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Abstract

The present invention relates to the field of manipulator intelligent control technology, specifically a control method for a robot system. In the present invention, by acquiring and analyzing the torque signals of the manipulator joints and connecting rods, combined with real-time operation data, the influence of each stress source under various operating conditions can be accurately evaluated, forming an in-depth understanding of the manipulator operating environment. Based on the above data decomposition method, the node energy release characteristics can be refined under different states, and the future energy response trend can be predicted, so as to facilitate pre-adjustment measures before stress changes. By weighted calculation of the driving force correction value of the joint, the driving force is adapted to the real-time changes in the stress distribution, thereby improving the precise control level of the driving force.
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