Robot Posture Control With Adaptive Dynamic Parameter Updates
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Solution Overview
Problem
Traditional robot control strategies face challenges in maintaining stability when the accuracy of dynamic parameters deviates from the desired posture due to external forces or changes in load, leading to posture deviations and reduced stability.
Innovation Solution
A robot control method that calculates the deviation between the current and desired postures, updates dynamic parameters using least squares and extended Kalman filter methods, and generates driving instructions for joint modules to adjust the posture and improve stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If traditional control strategies with fixed dynamic parameters are used, then the control system is simple, but the robot posture deviates from desired posture when dynamic parameters accuracy is insufficient
Solution Approach 1:
The patent implements dynamic parameter adaptation by continuously updating dynamic parameters based on posture deviation feedback. The control system transitions from static fixed parameters to dynamic adaptive parameters that adjust in real-time according to the robot's actual state, resolving the contradiction between posture accuracy and system complexity
Solution Approach 2:
The patent establishes a closed-loop feedback mechanism where posture deviation is calculated by comparing actual posture with desired posture, and this deviation information is used to adaptively adjust dynamic parameters. The feedback loop enables continuous refinement of control accuracy while maintaining manageable system complexity through iterative optimization
2Adaptability or versatility
If dynamic parameters are not updated adaptively, then the control system is stable, but the robot cannot reach desired posture when subjected to external forces or load changes
Solution Approach 1:
The patent performs preliminary adaptive adjustment of dynamic parameters by predicting required parameter changes based on current posture deviation. This preliminary action allows the system to proactively compensate for external forces and load changes before they cause significant posture degradation, enhancing adaptability while maintaining control stability
Solution Approach 2:
The patent implements parameter changes by dynamically adjusting dynamic parameters according to posture deviation magnitude and direction. The system modifies parameters adaptively in response to external forces and load changes, enabling the robot to maintain stable control while adapting to varying operational conditions
3Stability of the object's composition
If the robot uses preset dynamic parameters, then the control process is simple, but the robot stability decreases when load increases or decreases
Solution Approach 1:
The patent implements self-service by enabling the robot to automatically update its own dynamic parameters based on real-time posture feedback. The system performs self-adjustment without external intervention, continuously optimizing its control parameters to maintain stability under varying load conditions while keeping the overall system architecture relatively simple
Data Source
AI summary
The present application discloses a robot control method, a robot and a control terminal, which relate to the field of robot technology and can be used to improve the stability of the robot when there is a deviation between a desired posture and an actual posture of the robot. The robot control method includes calculating a first deviation between a current posture and the desired posture of the robot; updating dynamic parameters of the robot according to the first deviation; and obtaining a driving instruction of at least one joint module according to selected dynamic parameters to control the posture of the robot reaches or is close to the desired posture.