Robot Control System Phase-Specific Parameter Adjustment
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Solution Overview
Problem
Current control methods for robots, particularly humanoid robots, face challenges in achieving high accuracy during jumping due to the complexity of nonlinear and high-degree-of-freedom motion, which results in inadequate control precision.
Innovation Solution
A method and apparatus for controlling robots by obtaining reference and actual data to determine the current attitude of the robot, allowing for the calculation of specific control parameters based on the actual attitude, which includes determining support and flight phases and adjusting lower limb and upper limb control parameters accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a unified control method is used for both support phase and flight phase, then the control system is simple, but the control accuracy deteriorates
Solution Approach 1:
The control method segments the robot's motion into distinct phases (support phase and flight phase) and applies different control strategies to each phase. During the support phase, the control system uses one set of control parameters, while during the flight phase, it switches to another set of control parameters, thereby achieving phase-specific optimization without overwhelming system complexity
Solution Approach 2:
The control system dynamically adjusts control parameters based on the robot's current phase. By detecting whether the robot is in support or flight phase, the system dynamically switches between different control parameter sets, enabling adaptive control that responds to changing motion conditions
2Measurement precision
If phase-specific control parameters are used, then control accuracy improves, but the control system complexity increases
Solution Approach 1:
The control system is segmented into phase detection module and phase-specific control parameter modules. This modular segmentation allows the system to manage complexity by organizing control functions into discrete, manageable components that can be independently developed and maintained
Solution Approach 2:
The system employs feedback mechanisms to detect the robot's current phase and automatically select appropriate control parameters. This closed-loop feedback approach simplifies the control architecture by using sensor information to drive parameter selection, reducing the need for complex manual intervention
Data Source
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AI summary
A method for controlling a robot includes: obtaining (S101) reference data and actual data of the robot at a current control moment, the reference data including reference physical values corresponding to target parts when the robot performs a target motion, and the actual data including actual physical values corresponding to target parts when the robot performs the target motion; determining (S 102) an actual attitude of the robot according to the actual data, the actual attitude including one of a support phase or a flight phase; then determining (S 103) a target control parameter of the robot based on the reference data and the actual data according to the actual attitude; and controlling (S 104) the robot according to the target control parameter.