A robot transmission component torque adaptive control method and system

Abstract

This invention relates to the field of robotics, and discloses a method and system for adaptive torque control of robot transmission components. The method includes: acquiring input electrical parameters and motion state parameters; determining energy characterization values ​​and mechanical energy changes; calculating the energy balance deviation between the energy characterization values ​​and mechanical energy changes; accumulating the energy balance deviation to obtain a cumulative deviation value; identifying the evolution characteristics of the cumulative deviation value to determine the current state of the actuator; and adjusting the output torque control parameters of the actuator based on the evolution characteristics only when the current state is determined to be an external load change state, to compensate for the influence of the external load on the actuator. This invention intelligently distinguishes between external load changes and internal vibration / dissipation by monitoring the "imbalance" of energy flow, and performs torque compensation only when an external load change is confirmed, thereby achieving more precise and robust adaptive control.

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