Force sense feedback control method of intelligent mechanical arm and control system thereof

By integrating multimodal sensing information fusion and dynamic prediction models with event-driven control, and designing a nonlinear compensation strategy, the problems of insufficient perception and response lag in force feedback control in existing technologies are solved. This enables high-precision, low-latency control of intelligent robotic arms in complex scenarios, making them suitable for high-speed operations.

CN121756348APending Publication Date: 2026-03-31ANSTEEL GROUP ALUMINIUM POWDER CO LTD +1
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Patent Information

Application Number
CN202610077796.3
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2026-01-21
Publication Date
2026-03-31

AI Technical Summary

Technical Problem

Existing force feedback control technology has a single sensing dimension, making it difficult to comprehensively represent the force information of the contact interface. It has poor dynamic prediction capabilities and cannot quickly respond to force changes on a short time scale, resulting in control lag or misjudgment in complex contact scenarios. It also has high computational load and large communication latency, making it difficult to meet the real-time requirements of high-speed operation scenarios.

Method used

A force feedback control system for an intelligent robotic arm is designed by employing a multimodal sensing information fusion method, combining a dynamic force prediction mechanism and event-driven control, and through a nonlinear compensation strategy. Information is collected using a distributed tactile sensor array, a six-dimensional force sensor, an inertial measurement unit, and a vision sensor. A prediction model is fused using a spatiotemporal graph convolutional network and a gated recurrent unit to trigger event-driven control decisions. Nonlinear compensation control laws are designed to improve robustness and real-time performance.

Benefits of technology

It achieves high-precision, low-latency force control in dynamic interactive scenarios, significantly improving the robustness and response speed of the robotic arm, reducing computational redundancy, and is suitable for high-speed operation scenarios.

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Abstract

The invention discloses a force sense feedback control method for an intelligent mechanical arm, which comprises the following steps of: 1, acquiring data through a multi-modal sensor and fusing the data to obtain a multi-dimensional perception vector; 3, calculating a force sense tracking error and a change rate and triggering an event-driven control decision mechanism; 4, designing a nonlinear compensation control rule and outputting a control torque instruction, wherein a control system comprises a multi-mode sensing module, a dynamic prediction module, an event-driven control module and a cooperative calculation module; according to the method, multi-mode sensing information is fused with the lifting force sense representation capacity, advanced adjustment is achieved in combination with a dynamic force sense prediction mechanism, event-driven control is used for reducing calculation redundancy, robustness to complex interference is enhanced through a nonlinear compensation strategy, and finally high-precision and low-delay force sense control of the mechanical arm in a dynamic interaction scene is achieved.
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