[go: up one dir, main page]

CN113843795A - Joint module compliant motion control method based on double-stator magnetic regulating motor - Google Patents

Joint module compliant motion control method based on double-stator magnetic regulating motor Download PDF

Info

Publication number
CN113843795A
CN113843795A CN202111127382.0A CN202111127382A CN113843795A CN 113843795 A CN113843795 A CN 113843795A CN 202111127382 A CN202111127382 A CN 202111127382A CN 113843795 A CN113843795 A CN 113843795A
Authority
CN
China
Prior art keywords
joint
contact force
impedance
control method
force
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202111127382.0A
Other languages
Chinese (zh)
Inventor
潘剑飞
杨桂林
张驰
王冲冲
王璨
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen University
Original Assignee
Shenzhen University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen University filed Critical Shenzhen University
Priority to CN202111127382.0A priority Critical patent/CN113843795A/en
Publication of CN113843795A publication Critical patent/CN113843795A/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position Or Direction (AREA)
  • Manipulator (AREA)

Abstract

本发明公开了基于双定子调磁电机的关节模块柔顺运动控制方法，该控制方法旨在解决现有技术下不能在拉紧过程中不断减小接触力误差，且响应速度慢，而且无法保持接触力的稳定，系统不能同时控制力和位置，达不到关节模块所需的柔顺运动控制效果的技术问题。该控制方法，其步骤在于：步骤一：末端检测的力反馈经过阻抗控制模型进行滤波；步骤二：经过位置控制器

Figure 100004_DEST_PATH_IMAGE002
+
Figure 100004_DEST_PATH_IMAGE004
(
Figure 100004_DEST_PATH_IMAGE006
)(
Figure 100004_DEST_PATH_IMAGE008
)+g(
Figure 614025DEST_PATH_IMAGE006
)+SC=
Figure 100004_DEST_PATH_IMAGE010
，得到关节电机的驱动力矩。该控制方法利用运动补偿环境接触力，可以看成关节模块对外界环境的柔顺，目的是构建一个系统使得关节模块能同时控制力、位置，通过对反馈的力信号做预处理，响应速度快，有效保持接触力的稳定，从而令结果不断循环优化直至满足最终的结束条件为止。The invention discloses a joint module compliant motion control method based on a double-stator magneto-adjustable motor. The control method aims to solve the problem that the contact force error cannot be continuously reduced during the tensioning process in the prior art, the response speed is slow, and the contact cannot be maintained. The stability of the force, the system cannot control the force and position at the same time, and the technical problem that the compliant motion control effect required by the joint module cannot be achieved. The control method has the following steps: step 1: the force feedback detected at the end is filtered through an impedance control model; step 2: through a position controller
Figure 100004_DEST_PATH_IMAGE002
+
Figure 100004_DEST_PATH_IMAGE004
(
Figure 100004_DEST_PATH_IMAGE006
)(
Figure 100004_DEST_PATH_IMAGE008
)+g(
Figure 614025DEST_PATH_IMAGE006
)+SC=
Figure 100004_DEST_PATH_IMAGE010
, get the driving torque of the joint motor. The control method uses motion to compensate for the environmental contact force, which can be regarded as the compliance of the joint module to the external environment. The purpose is to build a system so that the joint module can control the force and position at the same time. By preprocessing the feedback force signal, the response speed is fast. Effectively keep the contact force stable, so that the results are continuously optimized in a loop until the final end condition is met.

Description

Joint module compliant motion control method based on double-stator magnetic regulating motor
Technical Field
The invention belongs to the technical field of robot control, and particularly relates to a joint module compliant motion control method based on a double-stator magnetic regulating motor.
Background
The traditional robot joint has a very complicated speed reducer and a braking band-type brake mechanism inside, so the joint is abnormally large, but for small robots which are increasingly applied to the periphery of production lines and equipment, the size of the joint becomes very critical, the size of the joint can be reduced by adopting a double-stator magnetic regulating motor, a plurality of robot joint core components are connected and integrated together through a joint module and integrated into a modularized component, and the modularized component is designed and packaged into a 90-degree corner appearance style suitable for the robot joint and can be directly used on a mechanical arm of an industrial robot as a complete joint assembly.
At present, the invention patent with patent number CN202011529388.6 discloses an exoskeleton joint force position composite compliance control method based on elastic elements, which includes: step S1: collecting motor information according to motor data collection control information to obtain motor data collection result information; step S2: acquiring control information according to the body posture, acquiring body posture information and acquiring body posture acquisition result information; step S3: acquiring control information according to the human-computer interaction force, acquiring human-computer interaction force information, and acquiring human-computer interaction force acquisition result information; step S4: acquiring active compliance control information of the exoskeleton joint assistance with force position compounding according to motor data acquisition result information, limb posture acquisition result information and human-computer interaction force acquisition result information; the active compliance control information of the exoskeleton joint assistance with force position compounding can form active compliance control of the exoskeleton joint assistance with force position compounding. Preferably, the step S4 includes: step S4.1: according to the active compliance control information of the exoskeleton joint assistance with force position compounding, a continuous load moment is generated on the joint assistance structure in a mode that an elastic element is connected with an execution mechanism in parallel. The intelligent control algorithm based on the high-integration sensing system is adopted to realize the force and position composite control of the joint motor, but the control method cannot continuously reduce the contact force error in the tensioning process, has low response speed, cannot keep the stability of the contact force, cannot simultaneously control the force and the position, and cannot achieve the compliant motion control effect required by a joint module.
Therefore, in order to solve the problem that the motor joint module cannot maintain stable contact force, it is necessary to improve the usage scenario of the dual-stator flux-modulated motor.
Disclosure of Invention
(1) Technical problem to be solved
Aiming at the defects of the prior art, the invention aims to provide a joint module compliant motion control method based on a double-stator magnetic regulating motor, and the control method aims to solve the technical problems that in the prior art, the contact force error cannot be continuously reduced in the tensioning process, the response speed is low, the stability of the contact force cannot be kept, the system cannot simultaneously control the force and the position, and the required compliant motion control effect of a joint module cannot be achieved.
(2) Technical scheme
In order to solve the technical problem, the invention provides a joint module compliant motion control method based on a double-stator magnetic regulating motor, which comprises the following steps:
the method comprises the following steps: the force feedback of the end detection is filtered through an impedance control model, and according to a rapid RLS algorithm, the calculation process is as follows:
(1) forward prediction relation: for an N-th order predictor, the instantaneous a posteriori forward prediction error can be expressed as:
Figure 216332DEST_PATH_IMAGE001
calculating the relation between the posterior and the prior forward prediction error:
Figure 579180DEST_PATH_IMAGE002
the time update equation for the minimum weighted least squares error is:
Figure 146428DEST_PATH_IMAGE003
(k-1,N)+
Figure 585631DEST_PATH_IMAGE004
the update equation for the conversion factor is:
Figure 769487DEST_PATH_IMAGE005
(k,N+1)=
Figure 404868DEST_PATH_IMAGE006
(k-1, N), the forward prediction tap coefficient vector update equation is:
Figure 108513DEST_PATH_IMAGE007
=
Figure 436726DEST_PATH_IMAGE008
(k-1,N)
Figure 576720DEST_PATH_IMAGE009
wherein
Figure 29174DEST_PATH_IMAGE010
The update equation for (k, N +1) is:
Figure 571014DEST_PATH_IMAGE010
(k,N+1)=
Figure 335707DEST_PATH_IMAGE011
+
Figure 962998DEST_PATH_IMAGE012
；
(2) backward prediction relation: the posterior and prior backward prediction error relational expression is as follows:
Figure 690913DEST_PATH_IMAGE013
the time update equation for the minimum weighted least squares error is:
Figure 352839DEST_PATH_IMAGE014
(k-1,N)+
Figure 22855DEST_PATH_IMAGE015
the backward prediction tap coefficient vector update equation is
Figure 137441DEST_PATH_IMAGE016
=
Figure 669048DEST_PATH_IMAGE017
(k,N)
Figure 185480DEST_PATH_IMAGE018
Wherein
Figure 760818DEST_PATH_IMAGE010
The update equation for (k, N +1) is:
Figure 628280DEST_PATH_IMAGE019
=
Figure 963577DEST_PATH_IMAGE020
–
Figure 334516DEST_PATH_IMAGE021
then, then
Figure 346334DEST_PATH_IMAGE010
The last element in (k, N +1) can be represented as:
Figure 169933DEST_PATH_IMAGE022
=
Figure 323570DEST_PATH_IMAGE023
in connection with
Figure 549015DEST_PATH_IMAGE024
The update equation of (1) is:
Figure 731735DEST_PATH_IMAGE025
=
Figure 308210DEST_PATH_IMAGE026
-
Figure 719731DEST_PATH_IMAGE027
；
(3) and (3) joint process estimation: and realizing joint estimation of the input signal and the expected signal, wherein the prior error is as follows: e (k, N) = d (k) -
Figure 799682DEST_PATH_IMAGE028
(k-1, N) X (k, N) having a prior error related to a posterior error:
Figure 418882DEST_PATH_IMAGE029
(k,N)=e(k,N)
Figure 217074DEST_PATH_IMAGE030
the time update relation for the joint process to estimate its tap coefficients is W (k, N) = W (k-1, N) +
Figure 432286DEST_PATH_IMAGE031
(k,N);
Step two: passing position controller
Figure 632323DEST_PATH_IMAGE032
+
Figure 422424DEST_PATH_IMAGE033
(
Figure 442333DEST_PATH_IMAGE034
)(
Figure 726815DEST_PATH_IMAGE035
)+g(
Figure 781359DEST_PATH_IMAGE034
)+SC=
Figure 476782DEST_PATH_IMAGE036
Obtaining the driving torque of the joint motor;
step three: the damping-spring-mass system can represent the inertia, damping and stiffness characteristics of the system, with the differential equations of the mathematical model:
Figure 249566DEST_PATH_IMAGE037
when the joint stops active movement and is dragged and follows with the constant-speed traction force, if the condition is met
Figure 334809DEST_PATH_IMAGE038
=0, the desired position coincides with the tow point position,
Figure 243859DEST_PATH_IMAGE039
=
Figure 375764DEST_PATH_IMAGE040
using the position correction of the joint in the working space
Figure 370264DEST_PATH_IMAGE041
The expression is that after Lagrange transformation, the original differential equation is changed into:
Figure 996549DEST_PATH_IMAGE042
；
step four: preprocessing of force feedback signals:
Figure 25685DEST_PATH_IMAGE043
=T(t)
Figure 62911DEST_PATH_IMAGE044
wherein
Figure 810287DEST_PATH_IMAGE043
Representing the actual contact force in the contact force coordinate system O-xyz,
Figure 974683DEST_PATH_IMAGE044
representing a restricted opening in the sensor coordinate system
Figure 858326DEST_PATH_IMAGE045
-
Figure 66453DEST_PATH_IMAGE046
Sensor force feedback in (j), t (t) is the transformation matrix from sensor coordinate system to contact force coordinate system, which is related to the time after the start of the tightening process:
T=
Figure 35546DEST_PATH_IMAGE047
，L=
Figure 3633DEST_PATH_IMAGE048
vt, converting the data acquired by the sensor into the actual contact force required;
step five: when the contact force is collected, the expected contact force is subtracted to obtain the contact force error
Figure 741782DEST_PATH_IMAGE049
Obtaining the position correction amount through impedance control
Figure 386390DEST_PATH_IMAGE041
To correct the desired trajectory
Figure 842779DEST_PATH_IMAGE050
Thereby obtaining the trajectory control quantity
Figure 351908DEST_PATH_IMAGE051
Through inverse kinematics
Figure 210142DEST_PATH_IMAGE052
(X) obtaining a joint trajectory control quantity
Figure 25652DEST_PATH_IMAGE053
Carrying out position control on the joint position control inner ring;
step six: selection of impedance parameters:
(1) the second-order equation of the spring damping model for impedance control is as follows:
Figure 703758DEST_PATH_IMAGE054
+2
Figure 13647DEST_PATH_IMAGE055
=0，
Figure 726388DEST_PATH_IMAGE056
,
Figure 712799DEST_PATH_IMAGE057
=
Figure 143780DEST_PATH_IMAGE058
when the selection of the impedance parameters meets the condition one, the transition process of the joint from free motion to the limited space can be stabilized;
(2) using different impedance control parameters
Figure 991782DEST_PATH_IMAGE059
、
Figure 559029DEST_PATH_IMAGE060
Proportioning;
step seven: optimizing impedance control parameters:
(1) according to the optimization target of the tensioning process, establishing an optimization objective function:
Figure 981920DEST_PATH_IMAGE061
=
Figure 385351DEST_PATH_IMAGE062
，
Figure 286311DEST_PATH_IMAGE063
；
(2) discrete representation of the objective function: according to the ideal impedance characteristics, the impedance characteristics are H(s) =
Figure 973644DEST_PATH_IMAGE064
Carrying out bilinear transformation on the system to meet the condition two to obtain H(s) =
Figure 301857DEST_PATH_IMAGE065
Wherein
Figure 455234DEST_PATH_IMAGE066
The discrete expression of the available impedance controller is:
Figure 894305DEST_PATH_IMAGE067
-
Figure 436145DEST_PATH_IMAGE068
；
step eight: and driving the joint to perform corresponding movement according to the optimized impedance parameter.
Preferably, the a priori in the step one (1) is to estimate the output at the time k by using the filter coefficient vector at the time k-1, and the a posteriori is to estimate the output at the time k by using the filter coefficient vector at the time k.
Preferably, said step three is
Figure 935259DEST_PATH_IMAGE069
、
Figure 313282DEST_PATH_IMAGE060
Respectively, representing the desired inertia, the desired damping and the desired stiffness of the damping-spring-mass system in different directions in the working space, X being the actual position of the joint in the working space,
Figure 556045DEST_PATH_IMAGE070
is that the joint generates the desired contact force in the working space
Figure 217970DEST_PATH_IMAGE038
The desired trajectory of the beam of light,
Figure 887986DEST_PATH_IMAGE043
is the reality between the joint and the environmentThe contact force is a function of the contact force,
Figure 753305DEST_PATH_IMAGE049
indicating the deviation between the joint contact force with the environment and the expected contact force.
Preferably, said step six (1)
Figure 799758DEST_PATH_IMAGE071
For the damping ratio of the target impedance parameter equation,
Figure 581770DEST_PATH_IMAGE057
is the natural frequency of the target impedance parameter equation.
Preferably, the condition one in the step six (1) is
Figure 173419DEST_PATH_IMAGE072
。
Preferably, the proportioning modes in the step six (2) are three: one of which is fixed
Figure 509723DEST_PATH_IMAGE073
、
Figure 359867DEST_PATH_IMAGE060
Is selected differently
Figure 465226DEST_PATH_IMAGE074
Fixing
Figure 484567DEST_PATH_IMAGE075
Is selected differently
Figure 573746DEST_PATH_IMAGE073
Carrying out simulation; the third is fixed
Figure 696423DEST_PATH_IMAGE076
Is selected differently
Figure 938179DEST_PATH_IMAGE077
。
Preferably, theThe number of the optimization targets in the step seven (1) is 2, and one is the maximum contact force
Figure 120899DEST_PATH_IMAGE078
Needs to be reduced, and the stability of the contact force needs to be enhanced.
Preferably, T in the step seven (2) is the sampling period of the system, and the condition two is s =
Figure 431794DEST_PATH_IMAGE079
。
(3) Advantageous effects
Compared with the prior art, the invention has the beneficial effects that: the control method of the invention utilizes the motion compensation environmental contact force, can be regarded as the compliance of the joint module to the external environment, adjusts the relation of the contact force and the position between the tail end of the joint module and the environment by adjusting the inertia coefficient, the damping coefficient and the rigidity coefficient of the impedance controller, aims to construct a system to enable the joint module to simultaneously control the force and the position, and preprocesses the feedback force signal so as to more accurately describe the actual contact force of the contact point, continuously reduce the contact force error in the tensioning process, have high response speed, effectively keep the stability of the contact force, and continuously and circularly optimize the result until the final end condition is met by optimizing the impedance control parameter, thereby realizing the compliance motion control of the joint module.
Detailed Description
In order to make the technical means, the original characteristics, the achieved purposes and the effects of the invention easily understood and obvious, the technical solutions in the embodiments of the present invention are clearly and completely described below to further illustrate the invention, and obviously, the described embodiments are only a part of the embodiments of the present invention, but not all the embodiments.
Example 1
The specific embodiment is a joint module compliant motion control method based on a double-stator magnetic regulating motor, which comprises the following steps:
the method comprises the following steps: the force feedback of the end detection is filtered through an impedance control model, and according to a rapid RLS algorithm, the calculation process is as follows:
(1) forward prediction relation: for an N-th order predictor, the instantaneous a posteriori forward prediction error can be expressed as:
Figure 358162DEST_PATH_IMAGE001
calculating the relation between the posterior and the prior forward prediction error:
Figure 454425DEST_PATH_IMAGE002
the time update equation for the minimum weighted least squares error is:
Figure 808046DEST_PATH_IMAGE003
(k-1,N)+
Figure 606238DEST_PATH_IMAGE004
the update equation for the conversion factor is:
Figure 601876DEST_PATH_IMAGE005
(k,N+1)=
Figure 552645DEST_PATH_IMAGE006
(k-1, N), the forward prediction tap coefficient vector update equation is:
Figure 77168DEST_PATH_IMAGE007
=
Figure 362655DEST_PATH_IMAGE008
(k-1,N)
Figure 896405DEST_PATH_IMAGE009
wherein
Figure 698751DEST_PATH_IMAGE010
The update equation for (k, N +1) is:
Figure 394175DEST_PATH_IMAGE010
(k,N+1)=
Figure 166959DEST_PATH_IMAGE011
+
Figure 238820DEST_PATH_IMAGE012
the prior is to estimate the output at the moment k by using the filter coefficient vector at the moment k-1, and the posterior is to estimate the output at the moment k by using the filter coefficient vector at the moment k;
(2) backward prediction relation: the posterior and prior backward prediction error relational expression is as follows:
Figure 898603DEST_PATH_IMAGE013
the time update equation for the minimum weighted least squares error is:
Figure 30507DEST_PATH_IMAGE014
(k-1,N)+
Figure 25008DEST_PATH_IMAGE015
the backward prediction tap coefficient vector update equation is
Figure 900560DEST_PATH_IMAGE016
=
Figure 414849DEST_PATH_IMAGE017
(k,N)
Figure 717654DEST_PATH_IMAGE018
Wherein
Figure 465030DEST_PATH_IMAGE010
The update equation for (k, N +1) is:
Figure 629426DEST_PATH_IMAGE019
=
Figure 513069DEST_PATH_IMAGE020
–
Figure 986776DEST_PATH_IMAGE021
then, then
Figure 955869DEST_PATH_IMAGE010
The last element in (k, N +1) can be represented as:
Figure 926885DEST_PATH_IMAGE022
=
Figure 665034DEST_PATH_IMAGE023
in connection with
Figure 309642DEST_PATH_IMAGE024
The update equation of (1) is:
Figure 766031DEST_PATH_IMAGE025
=
Figure 272230DEST_PATH_IMAGE026
-
Figure 130465DEST_PATH_IMAGE027
；
(3) and (3) joint process estimation: and realizing joint estimation of the input signal and the expected signal, wherein the prior error is as follows: e (k, N) = d (k) -
Figure 945974DEST_PATH_IMAGE028
(k-1, N) X (k, N) having a prior error related to a posterior error:
Figure 889659DEST_PATH_IMAGE029
(k,N)=e(k,N)
Figure 199549DEST_PATH_IMAGE030
the time update relation for the joint process to estimate its tap coefficients is W (k, N) = W (k-1, N) +
Figure 912290DEST_PATH_IMAGE031
(k,N);
Step two: passing position controller
Figure 898701DEST_PATH_IMAGE032
+
Figure 64103DEST_PATH_IMAGE033
(
Figure 912104DEST_PATH_IMAGE034
)(
Figure 744931DEST_PATH_IMAGE035
)+g(
Figure 902243DEST_PATH_IMAGE034
)+SC=
Figure 554941DEST_PATH_IMAGE036
Obtaining the driving torque of the joint motor;
step three: the damping-spring-mass system can represent the inertia, damping and stiffness characteristics of the system, with the differential equations of the mathematical model:
Figure 203704DEST_PATH_IMAGE037
when the joint stops active movement and is dragged and follows with the constant-speed traction force, if the condition is met
Figure 891037DEST_PATH_IMAGE038
=0, the desired position coincides with the tow point position,
Figure 219250DEST_PATH_IMAGE039
=
Figure 359244DEST_PATH_IMAGE040
using the position correction of the joint in the working space
Figure 549048DEST_PATH_IMAGE041
The expression is that after Lagrange transformation, the original differential equation is changed into:
Figure 90888DEST_PATH_IMAGE042
，
Figure 590003DEST_PATH_IMAGE069
、
Figure 951714DEST_PATH_IMAGE060
respectively, representing the desired inertia, the desired damping and the desired stiffness of the damping-spring-mass system in different directions in the working space, X being the actual position of the joint in the working space,
Figure 945209DEST_PATH_IMAGE070
is that the joint generates the desired contact force in the working space
Figure 341555DEST_PATH_IMAGE038
The desired trajectory of the beam of light,
Figure 11571DEST_PATH_IMAGE043
is the actual contact force between the joint and the environment,
Figure 126157DEST_PATH_IMAGE049
representing the deviation between the contact force between the joint and the environment and the expected contact force;
step four: preprocessing of force feedback signals:
Figure 923343DEST_PATH_IMAGE043
=T(t)
Figure 174196DEST_PATH_IMAGE044
wherein
Figure 15113DEST_PATH_IMAGE043
Representing the actual contact force in the contact force coordinate system O-xyz,
Figure 351416DEST_PATH_IMAGE044
representing a restricted opening in the sensor coordinate system
Figure 935982DEST_PATH_IMAGE045
-
Figure 682088DEST_PATH_IMAGE046
Sensor force feedback in (j), t (t) is the transformation matrix from sensor coordinate system to contact force coordinate system, which is related to the time after the start of the tightening process:
T=
Figure 959485DEST_PATH_IMAGE047
，L=
Figure 314243DEST_PATH_IMAGE048
vt, converting the data acquired by the sensor into the actual contact force required;
step five: when the contact force is collected, the expected contact force is subtracted to obtain the contact force error
Figure 718811DEST_PATH_IMAGE049
Obtaining the position correction amount through impedance control
Figure 944256DEST_PATH_IMAGE041
To correct the desired trajectory
Figure 658134DEST_PATH_IMAGE050
Thereby obtaining the trajectory control quantity
Figure 250921DEST_PATH_IMAGE051
Through inverse kinematics
Figure 177288DEST_PATH_IMAGE052
(X) obtaining a joint trajectory control quantity
Figure 536201DEST_PATH_IMAGE053
Carrying out position control on the joint position control inner ring;
step six: selection of impedance parameters:
(1) the second-order equation of the spring damping model for impedance control is as follows:
Figure 889822DEST_PATH_IMAGE054
+2
Figure 953593DEST_PATH_IMAGE055
=0，
Figure 683651DEST_PATH_IMAGE056
,
Figure 900000DEST_PATH_IMAGE057
=
Figure 424523DEST_PATH_IMAGE058
when the selection of the impedance parameter satisfies the condition one
Figure 975590DEST_PATH_IMAGE072
The transition process of the joint from free motion to restricted space can be stable,
Figure 728913DEST_PATH_IMAGE071
for the damping ratio of the target impedance parameter equation,
Figure 783457DEST_PATH_IMAGE057
is the natural frequency of the target impedance parameter equation;
(2) using different impedance control parameters
Figure 744460DEST_PATH_IMAGE059
、
Figure 517243DEST_PATH_IMAGE060
Proportioning and fixing
Figure 74258DEST_PATH_IMAGE073
、
Figure 248887DEST_PATH_IMAGE060
Is selected differently
Figure 115212DEST_PATH_IMAGE080
；
Step seven: optimizing impedance control parameters:
(1) according to the optimization goal of the tensioning process, one is the maximum contact force
Figure 375292DEST_PATH_IMAGE078
The need for reduction is two, the stability of the contact force needs to be enhanced, and an optimized objective function is established:
Figure 738927DEST_PATH_IMAGE061
=
Figure 768063DEST_PATH_IMAGE062
，
Figure 70868DEST_PATH_IMAGE063
；
(2) discrete representation of the objective function: according to the ideal impedance characteristics, the impedance characteristics are H(s) =
Figure 287086DEST_PATH_IMAGE064
Carrying out bilinear transformation on the system to meet the condition of two s =
Figure 700750DEST_PATH_IMAGE079
To yield H(s) =
Figure 335125DEST_PATH_IMAGE065
Wherein
Figure 808831DEST_PATH_IMAGE066
The discrete expression of the available impedance controller is:
Figure 777924DEST_PATH_IMAGE067
-
Figure 729700DEST_PATH_IMAGE068
t is the sampling period of the system;
step eight: according to the optimized impedance parameters, driving the joint to perform corresponding movement
Figure 484160DEST_PATH_IMAGE081
Example 2
The specific embodiment is a joint module compliant motion control method based on a double-stator magnetic regulating motor, which comprises the following steps:
the method comprises the following steps: the force feedback of the end detection is filtered through an impedance control model, and according to a rapid RLS algorithm, the calculation process is as follows:
(1) forward prediction relation: for an N-th order predictor, the instantaneous a posteriori forward prediction error can be expressed as:
Figure 128768DEST_PATH_IMAGE001
calculating the relation between the posterior and the prior forward prediction error:
Figure 850737DEST_PATH_IMAGE002
the time update equation for the minimum weighted least squares error is:
Figure 356936DEST_PATH_IMAGE003
(k-1,N)+
Figure 949591DEST_PATH_IMAGE004
the update equation for the conversion factor is:
Figure 765100DEST_PATH_IMAGE005
(k,N+1)=
Figure 708785DEST_PATH_IMAGE006
(k-1, N), the forward prediction tap coefficient vector update equation is:
Figure 15745DEST_PATH_IMAGE007
=
Figure 728486DEST_PATH_IMAGE008
(k-1,N)
Figure 449318DEST_PATH_IMAGE009
wherein
Figure 880299DEST_PATH_IMAGE010
The update equation for (k, N +1) is:
Figure 728301DEST_PATH_IMAGE010
(k,N+1)=
Figure 561127DEST_PATH_IMAGE011
+
Figure 718439DEST_PATH_IMAGE012
the prior is to estimate the output at the moment k by using the filter coefficient vector at the moment k-1, and the posterior is to estimate the output at the moment k by using the filter coefficient vector at the moment k;
(2) backward prediction relation: the posterior and prior backward prediction error relational expression is as follows:
Figure 636717DEST_PATH_IMAGE013
the time update equation for the minimum weighted least squares error is:
Figure 288409DEST_PATH_IMAGE014
(k-1,N)+
Figure 710163DEST_PATH_IMAGE015
the backward prediction tap coefficient vector update equation is
Figure 38376DEST_PATH_IMAGE016
=
Figure 178371DEST_PATH_IMAGE017
(k,N)
Figure 633754DEST_PATH_IMAGE018
Wherein
Figure 175594DEST_PATH_IMAGE010
The update equation for (k, N +1) is:
Figure 674708DEST_PATH_IMAGE019
=
Figure 309521DEST_PATH_IMAGE020
–
Figure 349021DEST_PATH_IMAGE021
then, then
Figure 745367DEST_PATH_IMAGE010
The last element in (k, N +1) can be represented as:
Figure 166116DEST_PATH_IMAGE022
=
Figure 280702DEST_PATH_IMAGE023
in connection with
Figure 61576DEST_PATH_IMAGE024
The update equation of (1) is:
Figure 578008DEST_PATH_IMAGE025
=
Figure 169658DEST_PATH_IMAGE026
-
Figure 771540DEST_PATH_IMAGE027
；
(3) and (3) joint process estimation: and realizing joint estimation of the input signal and the expected signal, wherein the prior error is as follows: e (k, N) = d (k) -
Figure 356106DEST_PATH_IMAGE028
(k-1, N) X (k, N) having a prior error related to a posterior error:
Figure 727044DEST_PATH_IMAGE029
(k,N)=e(k,N)
Figure 224016DEST_PATH_IMAGE030
the time update relation for the joint process to estimate its tap coefficients is W (k, N) = W (k-1, N) +
Figure 47615DEST_PATH_IMAGE031
(k,N);
Step two: passing position controller
Figure 435871DEST_PATH_IMAGE032
+
Figure 661316DEST_PATH_IMAGE033
(
Figure 591838DEST_PATH_IMAGE034
)(
Figure 168313DEST_PATH_IMAGE035
)+g(
Figure 94681DEST_PATH_IMAGE034
)+SC=
Figure 174632DEST_PATH_IMAGE036
Obtaining the driving torque of the joint motor;
step three: the damping-spring-mass system can represent the inertia, damping and stiffness characteristics of the system, with the differential equations of the mathematical model:
Figure 544565DEST_PATH_IMAGE037
when the joint stops active movement and is dragged and follows with the constant-speed traction force, if the condition is met
Figure 77178DEST_PATH_IMAGE038
=0, the desired position coincides with the tow point position,
Figure 72815DEST_PATH_IMAGE039
=
Figure 741694DEST_PATH_IMAGE040
using the position correction of the joint in the working space
Figure 531796DEST_PATH_IMAGE041
The expression is that after Lagrange transformation, the original differential equation is changed into:
Figure 568016DEST_PATH_IMAGE042
，
Figure 836186DEST_PATH_IMAGE069
、
Figure 890730DEST_PATH_IMAGE060
respectively, representing the desired inertia, the desired damping and the desired stiffness of the damping-spring-mass system in different directions in the working space, X being the actual position of the joint in the working space,
Figure 851733DEST_PATH_IMAGE070
is that the joint generates the desired contact force in the working space
Figure 109670DEST_PATH_IMAGE038
The desired trajectory of the beam of light,
Figure 181531DEST_PATH_IMAGE043
is the actual contact force between the joint and the environment,
Figure 356160DEST_PATH_IMAGE049
representing the deviation between the contact force between the joint and the environment and the expected contact force;
step four: preprocessing of force feedback signals:
Figure 222485DEST_PATH_IMAGE043
=T(t)
Figure 236227DEST_PATH_IMAGE044
wherein
Figure 846200DEST_PATH_IMAGE043
Representing the actual contact force in the contact force coordinate system O-xyz,
Figure 875336DEST_PATH_IMAGE044
representing a restricted opening in the sensor coordinate system
Figure 646983DEST_PATH_IMAGE045
-
Figure 145092DEST_PATH_IMAGE046
Sensor force feedback in (f), T (t) is a transformation matrix from the sensor coordinate system to the contact force coordinate system, which is related to the time after the start of the tensioning process：
T=
Figure 558755DEST_PATH_IMAGE047
，L=
Figure 442398DEST_PATH_IMAGE048
Vt, converting the data acquired by the sensor into the actual contact force required;
step five: when the contact force is collected, the expected contact force is subtracted to obtain the contact force error
Figure 916104DEST_PATH_IMAGE049
Obtaining the position correction amount through impedance control
Figure 635930DEST_PATH_IMAGE041
To correct the desired trajectory
Figure 587705DEST_PATH_IMAGE050
Thereby obtaining the trajectory control quantity
Figure 591433DEST_PATH_IMAGE051
Through inverse kinematics
Figure 970462DEST_PATH_IMAGE052
(X) obtaining a joint trajectory control quantity
Figure 177584DEST_PATH_IMAGE053
Carrying out position control on the joint position control inner ring;
step six: selection of impedance parameters:
(1) the second-order equation of the spring damping model for impedance control is as follows:
Figure 933050DEST_PATH_IMAGE054
+2
Figure 791285DEST_PATH_IMAGE055
=0，
Figure 341215DEST_PATH_IMAGE056
,
Figure 284900DEST_PATH_IMAGE057
=
Figure 591860DEST_PATH_IMAGE058
when the selection of the impedance parameter satisfies the condition one
Figure 39022DEST_PATH_IMAGE072
The transition process of the joint from free motion to restricted space can be stable,
Figure 25432DEST_PATH_IMAGE071
for the damping ratio of the target impedance parameter equation,
Figure 456414DEST_PATH_IMAGE057
is the natural frequency of the target impedance parameter equation;
(2) using different impedance control parameters
Figure 304415DEST_PATH_IMAGE059
、
Figure 871663DEST_PATH_IMAGE060
Proportioning and fixing
Figure 28975DEST_PATH_IMAGE075
Is selected differently
Figure 947252DEST_PATH_IMAGE073
Carrying out simulation;
step seven: optimizing impedance control parameters:
(1) according to the optimization goal of the tensioning process, one is the maximum contact force
Figure 333365DEST_PATH_IMAGE078
The need for reduction is two, the stability of the contact force needs to be enhanced, and an optimized objective function is established:
Figure 20698DEST_PATH_IMAGE061
=
Figure 348912DEST_PATH_IMAGE062
，
Figure 488906DEST_PATH_IMAGE063
；
(2) discrete representation of the objective function: according to the ideal impedance characteristics, the impedance characteristics are H(s) =
Figure 944289DEST_PATH_IMAGE064
Carrying out bilinear transformation on the system to satisfy the condition two
Figure 220550DEST_PATH_IMAGE082
To yield H(s) =
Figure 719664DEST_PATH_IMAGE065
Wherein
Figure 346955DEST_PATH_IMAGE066
The discrete expression of the available impedance controller is:
Figure 89519DEST_PATH_IMAGE067
-
Figure 751444DEST_PATH_IMAGE068
t is the sampling period of the system;
step eight: according to the optimized impedance parameters, driving the joint to perform corresponding movement
Figure 421460DEST_PATH_IMAGE081
Example 3
The specific embodiment is a joint module compliant motion control method based on a double-stator magnetic regulating motor, which comprises the following steps:
the method comprises the following steps: the force feedback of the end detection is filtered through an impedance control model, and according to a rapid RLS algorithm, the calculation process is as follows:
(1) forward directionPredicting the relation: for an N-th order predictor, the instantaneous a posteriori forward prediction error can be expressed as:
Figure 536047DEST_PATH_IMAGE001
calculating the relation between the posterior and the prior forward prediction error:
Figure 51342DEST_PATH_IMAGE002
the time update equation for the minimum weighted least squares error is:
Figure 318506DEST_PATH_IMAGE003
(k-1,N)+
Figure 159423DEST_PATH_IMAGE004
the update equation for the conversion factor is:
Figure 761306DEST_PATH_IMAGE005
(k,N+1)=
Figure 345871DEST_PATH_IMAGE006
(k-1, N), the forward prediction tap coefficient vector update equation is:
Figure 467542DEST_PATH_IMAGE007
=
Figure 213781DEST_PATH_IMAGE008
(k-1,N)
Figure 37380DEST_PATH_IMAGE009
wherein
Figure 425636DEST_PATH_IMAGE010
The update equation for (k, N +1) is:
Figure 401814DEST_PATH_IMAGE010
(k,N+1)=
Figure 584533DEST_PATH_IMAGE011
+
Figure 161008DEST_PATH_IMAGE012
the prior is to estimate the output at the moment k by using the filter coefficient vector at the moment k-1, and the posterior is to estimate the output at the moment k by using the filter coefficient vector at the moment k;
(2) backward prediction relation: the posterior and prior backward prediction error relational expression is as follows:
Figure 87376DEST_PATH_IMAGE013
the time update equation for the minimum weighted least squares error is:
Figure 901748DEST_PATH_IMAGE014
(k-1,N)+
Figure 268751DEST_PATH_IMAGE015
the backward prediction tap coefficient vector update equation is
Figure 66943DEST_PATH_IMAGE016
=
Figure 531422DEST_PATH_IMAGE017
(k,N)
Figure 731459DEST_PATH_IMAGE018
Wherein
Figure 272293DEST_PATH_IMAGE010
The update equation for (k, N +1) is:
Figure 292202DEST_PATH_IMAGE019
=
Figure 825951DEST_PATH_IMAGE020
–
Figure 880495DEST_PATH_IMAGE021
then, then
Figure 61072DEST_PATH_IMAGE010
The last element in (k, N +1) can be represented as:
Figure 833856DEST_PATH_IMAGE022
=
Figure 905717DEST_PATH_IMAGE023
in connection with
Figure 814767DEST_PATH_IMAGE024
The update equation of (1) is:
Figure 697404DEST_PATH_IMAGE025
=
Figure 691904DEST_PATH_IMAGE026
-
Figure 301877DEST_PATH_IMAGE027
；
(3) and (3) joint process estimation: and realizing joint estimation of the input signal and the expected signal, wherein the prior error is as follows: e (k, N) = d (k) -
Figure 331013DEST_PATH_IMAGE028
(k-1, N) X (k, N) having a prior error related to a posterior error:
Figure 368239DEST_PATH_IMAGE029
(k,N)=e(k,N)
Figure 869278DEST_PATH_IMAGE030
the time update relation for the joint process to estimate its tap coefficients is W (k, N) = W (k-1, N) +
Figure 282941DEST_PATH_IMAGE031
(k,N);
Step two: passing position controller
Figure 166584DEST_PATH_IMAGE032
+
Figure 374711DEST_PATH_IMAGE033
(
Figure 94537DEST_PATH_IMAGE034
)(
Figure 311891DEST_PATH_IMAGE035
)+g(
Figure 50040DEST_PATH_IMAGE034
)+SC=
Figure 694648DEST_PATH_IMAGE036
Obtaining the driving torque of the joint motor;
step three: the damping-spring-mass system can represent the inertia, damping and stiffness characteristics of the system, with the differential equations of the mathematical model:
Figure 901770DEST_PATH_IMAGE037
when the joint stops active movement and is dragged and follows with the constant-speed traction force, if the condition is met
Figure 391657DEST_PATH_IMAGE038
=0, the desired position coincides with the tow point position,
Figure 249891DEST_PATH_IMAGE039
=
Figure 330980DEST_PATH_IMAGE040
using the position correction of the joint in the working space
Figure 759818DEST_PATH_IMAGE041
The expression is that after Lagrange transformation, the original differential equation is changed into:
Figure 318976DEST_PATH_IMAGE042
，
Figure 31717DEST_PATH_IMAGE069
、
Figure 18127DEST_PATH_IMAGE060
respectively representing damping-spring-mass systemsDesired inertia, desired damping, and desired stiffness in different directions in the workspace, X is the actual position of the joint in the workspace,
Figure 196911DEST_PATH_IMAGE070
is that the joint generates the desired contact force in the working space
Figure 294180DEST_PATH_IMAGE038
The desired trajectory of the beam of light,
Figure 861428DEST_PATH_IMAGE043
is the actual contact force between the joint and the environment,
Figure 18740DEST_PATH_IMAGE049
representing the deviation between the contact force between the joint and the environment and the expected contact force;
step four: preprocessing of force feedback signals:
Figure 422170DEST_PATH_IMAGE043
=T(t)
Figure 588710DEST_PATH_IMAGE044
wherein
Figure 276043DEST_PATH_IMAGE043
Representing the actual contact force in the contact force coordinate system O-xyz,
Figure 354988DEST_PATH_IMAGE044
representing a restricted opening in the sensor coordinate system
Figure 494983DEST_PATH_IMAGE045
-
Figure 934054DEST_PATH_IMAGE046
Sensor force feedback in (j), t (t) is the transformation matrix from sensor coordinate system to contact force coordinate system, which is related to the time after the start of the tightening process:
T=
Figure 475894DEST_PATH_IMAGE047
，L=
Figure 725741DEST_PATH_IMAGE048
vt, converting the data acquired by the sensor into the actual contact force required;
step five: when the contact force is collected, the expected contact force is subtracted to obtain the contact force error
Figure 353031DEST_PATH_IMAGE049
Obtaining the position correction amount through impedance control
Figure 595794DEST_PATH_IMAGE041
To correct the desired trajectory
Figure 257719DEST_PATH_IMAGE050
Thereby obtaining the trajectory control quantity
Figure 669679DEST_PATH_IMAGE051
Through inverse kinematics
Figure 518686DEST_PATH_IMAGE052
(X) obtaining a joint trajectory control quantity
Figure 565139DEST_PATH_IMAGE053
Carrying out position control on the joint position control inner ring;
step six: selection of impedance parameters:
(1) the second-order equation of the spring damping model for impedance control is as follows:
Figure 81571DEST_PATH_IMAGE054
+2
Figure 673221DEST_PATH_IMAGE055
=0，
Figure 9524DEST_PATH_IMAGE056
,
Figure 594089DEST_PATH_IMAGE057
=
Figure 965028DEST_PATH_IMAGE058
when the selection of the impedance parameter satisfies the condition one
Figure 727579DEST_PATH_IMAGE072
The transition process of the joint from free motion to restricted space can be stable,
Figure 816757DEST_PATH_IMAGE071
for the damping ratio of the target impedance parameter equation,
Figure 205013DEST_PATH_IMAGE057
is the natural frequency of the target impedance parameter equation;
(2) using different impedance control parameters
Figure 696037DEST_PATH_IMAGE059
、
Figure 629490DEST_PATH_IMAGE060
Proportioning and fixing
Figure 940385DEST_PATH_IMAGE076
Is selected differently
Figure 866753DEST_PATH_IMAGE077
；
Step seven: optimizing impedance control parameters:
(1) according to the optimization goal of the tensioning process, one is the maximum contact force
Figure 225666DEST_PATH_IMAGE078
The need for reduction is two, the stability of the contact force needs to be enhanced, and an optimized objective function is established:
Figure 579286DEST_PATH_IMAGE061
=
Figure 377478DEST_PATH_IMAGE062
，
Figure 107537DEST_PATH_IMAGE063
；
(2) discrete representation of the objective function: according to the ideal impedance characteristics, the impedance characteristics are H(s) =
Figure 58306DEST_PATH_IMAGE064
Carrying out bilinear transformation on the system to meet the condition of two s =
Figure 582829DEST_PATH_IMAGE079
To yield H(s) =
Figure 868316DEST_PATH_IMAGE065
Wherein
Figure 402066DEST_PATH_IMAGE066
The discrete expression of the available impedance controller is:
Figure 207342DEST_PATH_IMAGE067
-
Figure 902766DEST_PATH_IMAGE068
t is the sampling period of the system;
step eight: according to the optimized impedance parameters, driving the joint to perform corresponding movement
Figure 675550DEST_PATH_IMAGE081
Having thus described the principal technical features and basic principles of the invention, and the advantages associated therewith, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Furthermore, it should be understood that although the present description is described in terms of various embodiments, not every embodiment includes only a single embodiment, and such descriptions are provided for clarity only, and those skilled in the art will recognize that the embodiments described herein can be combined as a whole to form other embodiments as would be understood by those skilled in the art.

Claims (7)

1.基于双定子调磁电机的关节模块柔顺运动控制方法，其特征在于，其步骤如下：1. based on the joint module compliant motion control method of the double stator magneto-adjustable motor, it is characterized in that, its steps are as follows: 步骤一：末端检测的力反馈经过阻抗控制模型进行滤波，根据快速RLS算法,其计算过程为：Step 1: The force feedback detected by the end is filtered by the impedance control model. According to the fast RLS algorithm, the calculation process is as follows: （1）向前预测关系式：对于一个N阶的预测器，其瞬时后验前向预测误差可以表示为：
Figure DEST_PATH_IMAGE002
，计算后验和先验前向预测误差之间的关系：
Figure DEST_PATH_IMAGE004
，最小加权最小二乘误差的时间更新方程为：
Figure DEST_PATH_IMAGE006
(k-1,N)+
Figure DEST_PATH_IMAGE008
,转换因子的更新方程为：
Figure DEST_PATH_IMAGE010
(k,N+1)=
Figure DEST_PATH_IMAGE012
(k-1,N)，前向预测抽头系数向量更新方程为：
Figure DEST_PATH_IMAGE014
=
Figure DEST_PATH_IMAGE016
(k-1,N)
Figure DEST_PATH_IMAGE018
，其中
Figure DEST_PATH_IMAGE020
(k,N+1)的更新方程为：
Figure 788063DEST_PATH_IMAGE020
(k,N+1)=
Figure DEST_PATH_IMAGE022
+
Figure DEST_PATH_IMAGE024
；(1) Forward prediction relationship: For an N-order predictor, its instantaneous posterior forward prediction error can be expressed as:
Figure DEST_PATH_IMAGE002
, computes the relationship between the posterior and a priori forward prediction errors:
Figure DEST_PATH_IMAGE004
, the time update equation of the least weighted least squares error is:
Figure DEST_PATH_IMAGE006
(k-1,N)+
Figure DEST_PATH_IMAGE008
, the update equation of the conversion factor is:
Figure DEST_PATH_IMAGE010
(k,N+1)=
Figure DEST_PATH_IMAGE012
(k-1,N), the forward prediction tap coefficient vector update equation is:
Figure DEST_PATH_IMAGE014
=
Figure DEST_PATH_IMAGE016
(k-1,N)
Figure DEST_PATH_IMAGE018
,in
Figure DEST_PATH_IMAGE020
The update equation of (k,N+1) is:
Figure 788063DEST_PATH_IMAGE020
(k,N+1)=
Figure DEST_PATH_IMAGE022
+
Figure DEST_PATH_IMAGE024
; （2）后向预测关系式：后验和先验的后向预测误差关系表达式为：
Figure DEST_PATH_IMAGE026
，最小加权最小二乘误差的时间更新方程为：
Figure DEST_PATH_IMAGE028
(k-1,N)+
Figure DEST_PATH_IMAGE030
，后向预测抽头系数向量更新方程为
Figure DEST_PATH_IMAGE032
=
Figure DEST_PATH_IMAGE034
(k,N)
Figure DEST_PATH_IMAGE036
，其中
Figure 315603DEST_PATH_IMAGE020
(k,N+1)的更新方程为：
Figure DEST_PATH_IMAGE038
=
Figure DEST_PATH_IMAGE040
-
Figure DEST_PATH_IMAGE042
，则
Figure 336910DEST_PATH_IMAGE020
(k,N+1)中的最后一个元素可以表示为：
Figure DEST_PATH_IMAGE044
=
Figure DEST_PATH_IMAGE046
，关于
Figure DEST_PATH_IMAGE048
的更新方程为：
Figure DEST_PATH_IMAGE050
=
Figure DEST_PATH_IMAGE052
-
Figure DEST_PATH_IMAGE054
；(2) Backward prediction relationship: The backward prediction error relationship between a posteriori and a priori is expressed as:
Figure DEST_PATH_IMAGE026
, the time update equation of the least weighted least squares error is:
Figure DEST_PATH_IMAGE028
(k-1,N)+
Figure DEST_PATH_IMAGE030
, the backward prediction tap coefficient vector update equation is
Figure DEST_PATH_IMAGE032
=
Figure DEST_PATH_IMAGE034
(k,N)
Figure DEST_PATH_IMAGE036
,in
Figure 315603DEST_PATH_IMAGE020
The update equation of (k,N+1) is:
Figure DEST_PATH_IMAGE038
=
Figure DEST_PATH_IMAGE040
-
Figure DEST_PATH_IMAGE042
,but
Figure 336910DEST_PATH_IMAGE020
The last element in (k,N+1) can be expressed as:
Figure DEST_PATH_IMAGE044
=
Figure DEST_PATH_IMAGE046
,about
Figure DEST_PATH_IMAGE048
The update equation of is:
Figure DEST_PATH_IMAGE050
=
Figure DEST_PATH_IMAGE052
-
Figure DEST_PATH_IMAGE054
; （3）联合过程估计：实现输入信号与期望信号的联合估计，其先验误差为：e(k,N)=d(k)-
Figure DEST_PATH_IMAGE056
(k-1,N)X(k,N)，其先验误差与后验误差的关系为：
Figure DEST_PATH_IMAGE058
(k,N)=e(k,N)
Figure DEST_PATH_IMAGE060
，联合过程估计其抽头系数的时间更新关系式为W(k,N)=W(k-1,N)+
Figure DEST_PATH_IMAGE062
(k,N);(3) Joint process estimation: realize the joint estimation of the input signal and the desired signal, and its prior error is: e(k,N)=d(k)-
Figure DEST_PATH_IMAGE056
(k-1,N)X(k,N), the relationship between the prior error and the posterior error is:
Figure DEST_PATH_IMAGE058
(k,N)=e(k,N)
Figure DEST_PATH_IMAGE060
, the joint process estimates the time update relation of its tap coefficients as W(k,N)=W(k-1,N)+
Figure DEST_PATH_IMAGE062
(k,N); 步骤二：经过位置控制器
Figure DEST_PATH_IMAGE064
+
Figure DEST_PATH_IMAGE066
(
Figure DEST_PATH_IMAGE068
)(
Figure DEST_PATH_IMAGE070
)+g(
Figure 244560DEST_PATH_IMAGE068
)+SC=
Figure DEST_PATH_IMAGE072
，得到关节电机的驱动力矩；Step 2: Pass the position controller
Figure DEST_PATH_IMAGE064
+
Figure DEST_PATH_IMAGE066
(
Figure DEST_PATH_IMAGE068
)(
Figure DEST_PATH_IMAGE070
)+g(
Figure 244560DEST_PATH_IMAGE068
)+SC=
Figure DEST_PATH_IMAGE072
, get the driving torque of the joint motor; 步骤三：阻尼-弹簧-质量系统可以代表系统的惯性、阻尼和刚度特性，其数学模型的微分方程式为：
Figure DEST_PATH_IMAGE074
，当关节停止主动运动而进行受匀速牵引力牵引随动时，若满足条件
Figure DEST_PATH_IMAGE076
=0，期望位置便与牵引点位置重合，
Figure DEST_PATH_IMAGE078
=
Figure DEST_PATH_IMAGE080
，将关节在工作空间中的位置修正量用
Figure DEST_PATH_IMAGE082
表示，经过拉格朗日变换后，原微分方程式改为：
Figure DEST_PATH_IMAGE084
；Step 3: The damping-spring-mass system can represent the inertia, damping and stiffness characteristics of the system. The differential equation of its mathematical model is:
Figure DEST_PATH_IMAGE074
, when the joint stops active movement and is followed by uniform traction traction, if the conditions are met
Figure DEST_PATH_IMAGE076
=0, the desired position coincides with the tow point position,
Figure DEST_PATH_IMAGE078
=
Figure DEST_PATH_IMAGE080
, use the position correction amount of the joint in the workspace with
Figure DEST_PATH_IMAGE082
means that after Lagrangian transformation, the original differential equation is changed to:
Figure DEST_PATH_IMAGE084
; 步骤四：力反馈信号的预处理：
Figure DEST_PATH_IMAGE086
=T(t)
Figure DEST_PATH_IMAGE088
，其中
Figure 175344DEST_PATH_IMAGE086
代表了在接触力坐标系{O-xyz}中的实际接触力，
Figure 911219DEST_PATH_IMAGE088
代表了在传感器坐标系{
Figure DEST_PATH_IMAGE090
-
Figure DEST_PATH_IMAGE092
}中的传感器力反馈，T(t)是从传感器坐标系到接触力坐标系的转换矩阵，其与拉紧过程开始后的时间有关：Step 4: Preprocessing of the force feedback signal:
Figure DEST_PATH_IMAGE086
=T(t)
Figure DEST_PATH_IMAGE088
,in
Figure 175344DEST_PATH_IMAGE086
represents the actual contact force in the contact force coordinate system {O-xyz},
Figure 911219DEST_PATH_IMAGE088
represents the coordinate system in the sensor {
Figure DEST_PATH_IMAGE090
-
Figure DEST_PATH_IMAGE092
The sensor force feedback in }, T(t) is the transformation matrix from the sensor coordinate system to the contact force coordinate system, which is related to the time after the start of the tensioning process: T=
Figure DEST_PATH_IMAGE094
，L=
Figure DEST_PATH_IMAGE096
-vt，将传感器采集到的数据转换成所需要的实际接触力；T=
Figure DEST_PATH_IMAGE094
, L=
Figure DEST_PATH_IMAGE096
-vt, convert the data collected by the sensor into the actual contact force required; 步骤五：当接触力采集回来后，与期望接触力相减得到接触力误差
Figure DEST_PATH_IMAGE098
，经过阻抗控制得到位置修正量
Figure 719906DEST_PATH_IMAGE082
去修正期望轨迹
Figure DEST_PATH_IMAGE100
从而获得轨迹控制量
Figure DEST_PATH_IMAGE102
，经过逆运动学
Figure DEST_PATH_IMAGE104
(X)得到关节轨迹控制量
Figure DEST_PATH_IMAGE106
对关节位置控制内环进行位置控制；Step 5: When the contact force is collected, subtract it from the expected contact force to get the contact force error
Figure DEST_PATH_IMAGE098
, the position correction amount is obtained through impedance control
Figure 719906DEST_PATH_IMAGE082
to correct the desired trajectory
Figure DEST_PATH_IMAGE100
so as to obtain the trajectory control amount
Figure DEST_PATH_IMAGE102
, after inverse kinematics
Figure DEST_PATH_IMAGE104
(X) Get the joint trajectory control amount
Figure DEST_PATH_IMAGE106
Position control of the inner loop of joint position control; 步骤六：阻抗参数的选择：Step 6: Selection of impedance parameters: （1）阻抗控制的弹簧阻尼模型二阶方程为：
Figure DEST_PATH_IMAGE108
+2
Figure DEST_PATH_IMAGE110
=0，
Figure DEST_PATH_IMAGE112
,
Figure DEST_PATH_IMAGE114
=
Figure DEST_PATH_IMAGE116
，当阻抗参数的选择满足条件一时，关节从自由运动至受限空间的过渡过程才能够达到稳定；(1) The second-order equation of the impedance-controlled spring damping model is:
Figure DEST_PATH_IMAGE108
+2
Figure DEST_PATH_IMAGE110
=0,
Figure DEST_PATH_IMAGE112
,
Figure DEST_PATH_IMAGE114
=
Figure DEST_PATH_IMAGE116
, when the selection of impedance parameters satisfies condition 1, the transition process of joints from free motion to restricted space can achieve stability; （2）采用不同的阻抗控制参数
Figure DEST_PATH_IMAGE118
、
Figure DEST_PATH_IMAGE120
配比；(2) Using different impedance control parameters
Figure DEST_PATH_IMAGE118
,
Figure DEST_PATH_IMAGE120
ratio; 步骤七：阻抗控制参数优化：Step 7: Impedance control parameter optimization: 根据拉紧过程的优化目标，建立优化目标函数：According to the optimization objective of the tightening process, the optimization objective function is established:
Figure DEST_PATH_IMAGE122
=
Figure DEST_PATH_IMAGE124
，
Figure DEST_PATH_IMAGE122
=
Figure DEST_PATH_IMAGE124
,
Figure DEST_PATH_IMAGE126
；
Figure DEST_PATH_IMAGE126
; （2）目标函数的离散表达：根据理想阻抗特性有H(s)=
Figure DEST_PATH_IMAGE128
，对系统进行双线性变换，满足条件二，得到H(s)=
Figure DEST_PATH_IMAGE130
，其中
Figure DEST_PATH_IMAGE132
，可得阻抗控制器的离散表达式为：
Figure DEST_PATH_IMAGE134
-
Figure DEST_PATH_IMAGE136
；(2) Discrete expression of the objective function: According to the ideal impedance characteristics, H(s)=
Figure DEST_PATH_IMAGE128
, perform bilinear transformation on the system, satisfy the second condition, and get H(s)=
Figure DEST_PATH_IMAGE130
,in
Figure DEST_PATH_IMAGE132
, the discrete expression of the impedance controller can be obtained as:
Figure DEST_PATH_IMAGE134
-
Figure DEST_PATH_IMAGE136
; 步骤八：根据优化的阻抗参数，驱动关节进行相应的运动。Step 8: According to the optimized impedance parameters, the joints are driven to perform corresponding movements. 2.根据权利要求1所述的基于双定子调磁电机的关节模块柔顺运动控制方法，其特征在于，所述步骤一（1）中的先验是指利用k-1时刻的滤波系数矢量估计k时刻的输出，后验是指利用k时刻的滤波系数矢量估计k时刻的输出。2 . The joint module compliant motion control method based on a dual-stator magneto-adjustable motor according to claim 1 , wherein the prior in step 1 (1) refers to the estimation of the filter coefficient vector at time k-1. 3 . The output at time k, the posterior refers to the use of the filter coefficient vector at time k to estimate the output at time k. 3.根据权利要求1所述的基于双定子调磁电机的关节模块柔顺运动控制方法，其特征在于，所述步骤三中
Figure DEST_PATH_IMAGE138
、
Figure 752234DEST_PATH_IMAGE120
分别代表阻尼-弹簧-质量系统在工作空间中不同方向的期望惯量、期望阻尼和期望刚度，X是关节在工作空间中的实际位置，
Figure DEST_PATH_IMAGE140
是关节在工作空间中产生期望接触力
Figure 683281DEST_PATH_IMAGE076
的期望轨迹，
Figure 906452DEST_PATH_IMAGE086
是关节与环境间的实际接触力，
Figure 860108DEST_PATH_IMAGE098
表示关节与环境间接触力与期望接触力之间的偏差。3. The joint module compliant motion control method based on a dual-stator magneto-adjustable motor according to claim 1, wherein in the step 3
Figure DEST_PATH_IMAGE138
,
Figure 752234DEST_PATH_IMAGE120
respectively represent the desired inertia, desired damping and desired stiffness of the damping-spring-mass system in different directions in the workspace, X is the actual position of the joint in the workspace,
Figure DEST_PATH_IMAGE140
is the joint that produces the desired contact force in the workspace
Figure 683281DEST_PATH_IMAGE076
the desired trajectory,
Figure 906452DEST_PATH_IMAGE086
is the actual contact force between the joint and the environment,
Figure 860108DEST_PATH_IMAGE098
Represents the deviation between the contact force between the joint and the environment and the expected contact force. 4.根据权利要求1所述的基于双定子调磁电机的关节模块柔顺运动控制方法，其特征在于，所述步骤六（1）中
Figure DEST_PATH_IMAGE142
为目标阻抗参数方程的阻尼比,
Figure 321176DEST_PATH_IMAGE114
是目标阻抗参数方程的固有频率。4 . The compliant motion control method for a joint module based on a dual-stator magneto-adjustable motor according to claim 1 , wherein in the step six (1)
Figure DEST_PATH_IMAGE142
is the damping ratio of the target impedance parameter equation,
Figure 321176DEST_PATH_IMAGE114
is the natural frequency of the target impedance parametric equation. 5.根据权利要求1所述的基于双定子调磁电机的关节模块柔顺运动控制方法，其特征在于，所述步骤六（1）条件一为
Figure DEST_PATH_IMAGE144
。5 . The joint module compliant motion control method based on a dual-stator magneto-adjustable motor according to claim 1 , wherein the step six (1) condition 1 is: 6 .
Figure DEST_PATH_IMAGE144
. 6.根据权利要求1所述的基于双定子调磁电机的关节模块柔顺运动控制方法，其特征在于，所述步骤六（2）中配比方式有三种：其一为固定
Figure DEST_PATH_IMAGE146
、
Figure 672392DEST_PATH_IMAGE120
，选择不同的
Figure DEST_PATH_IMAGE148
固定
Figure DEST_PATH_IMAGE150
，选择不同的
Figure 71275DEST_PATH_IMAGE146
进行仿真；其三为固定
Figure DEST_PATH_IMAGE152
，选择不同的
Figure DEST_PATH_IMAGE154
6 . The joint module compliant motion control method based on a dual-stator magneto-adjustable motor according to claim 1 , wherein there are three proportioning methods in the step 6 (2): one is fixed
Figure DEST_PATH_IMAGE146
,
Figure 672392DEST_PATH_IMAGE120
, choose a different
Figure DEST_PATH_IMAGE148
fixed
Figure DEST_PATH_IMAGE150
, choose a different
Figure 71275DEST_PATH_IMAGE146
simulation; the third is fixed
Figure DEST_PATH_IMAGE152
, choose a different
Figure DEST_PATH_IMAGE154
 根据权利要求1所述的基于双定子调磁电机的关节模块柔顺运动控制方法，其特征在于，所述步骤七（1）中优化目标有2个，其一为最大接触力
Figure DEST_PATH_IMAGE156
需要减小，其二为接触力的稳定性需要增强。The joint module compliant motion control method based on a dual-stator magneto-adjustable motor according to claim 1, characterized in that, in the step seven (1), there are two optimization targets, one of which is the maximum contact force
Figure DEST_PATH_IMAGE156
It needs to be reduced, and the second is that the stability of the contact force needs to be enhanced. 7.根据权利要求1所述的基于双定子调磁电机的关节模块柔顺运动控制方法，其特征在于，所述步骤七（2）中T是系统的采样周期，条件二为s=
Figure DEST_PATH_IMAGE158
。7 . The joint module compliant motion control method based on a dual-stator magneto-adjustable motor according to claim 1 , wherein in the step seven (2), T is the sampling period of the system, and the second condition is s=
Figure DEST_PATH_IMAGE158
.
CN202111127382.0A 2021-09-26 2021-09-26 Joint module compliant motion control method based on double-stator magnetic regulating motor Pending CN113843795A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111127382.0A CN113843795A (en) 2021-09-26 2021-09-26 Joint module compliant motion control method based on double-stator magnetic regulating motor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111127382.0A CN113843795A (en) 2021-09-26 2021-09-26 Joint module compliant motion control method based on double-stator magnetic regulating motor

Publications (1)

Publication Number Publication Date
CN113843795A true CN113843795A (en) 2021-12-28

Family

ID=78980116

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111127382.0A Pending CN113843795A (en) 2021-09-26 2021-09-26 Joint module compliant motion control method based on double-stator magnetic regulating motor

Country Status (1)

Country Link
CN (1) CN113843795A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115723139A (en) * 2022-12-02 2023-03-03 哈尔滨工业大学（深圳） Method and device for operating space compliance control of a rope-driven flexible manipulator

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5206930A (en) * 1988-03-15 1993-04-27 International Business Machines Corporation Method of compliance control of a manipulator
CN106483964A (en) * 2015-08-31 2017-03-08 中南大学 A kind of robot Shared control method based on contact force observer
CN110421547A (en) * 2019-07-12 2019-11-08 中南大学 A kind of tow-armed robot collaboration impedance adjustment based on estimated driving force model
CN111281743A (en) * 2020-02-29 2020-06-16 西北工业大学 An adaptive compliance control method for an upper limb rehabilitation exoskeleton robot
CN111687835A (en) * 2020-04-30 2020-09-22 广西科技大学 Reverse priority impedance control system and method for redundant manipulator of underwater manipulator
CN112152520A (en) * 2019-06-26 2020-12-29 深圳大学 Closed-loop network multi-motor cooperative motion control method and system
CN112751517A (en) * 2020-12-30 2021-05-04 深圳大学 Motor control system and method

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5206930A (en) * 1988-03-15 1993-04-27 International Business Machines Corporation Method of compliance control of a manipulator
CN106483964A (en) * 2015-08-31 2017-03-08 中南大学 A kind of robot Shared control method based on contact force observer
CN112152520A (en) * 2019-06-26 2020-12-29 深圳大学 Closed-loop network multi-motor cooperative motion control method and system
CN110421547A (en) * 2019-07-12 2019-11-08 中南大学 A kind of tow-armed robot collaboration impedance adjustment based on estimated driving force model
CN111281743A (en) * 2020-02-29 2020-06-16 西北工业大学 An adaptive compliance control method for an upper limb rehabilitation exoskeleton robot
CN111687835A (en) * 2020-04-30 2020-09-22 广西科技大学 Reverse priority impedance control system and method for redundant manipulator of underwater manipulator
CN112751517A (en) * 2020-12-30 2021-05-04 深圳大学 Motor control system and method

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115723139A (en) * 2022-12-02 2023-03-03 哈尔滨工业大学（深圳） Method and device for operating space compliance control of a rope-driven flexible manipulator

Similar Documents

Publication Publication Date Title
US20100152899A1 (en) Systems and methods of coordination control for robot manipulation
CN112643670B (en) Flexible joint control method based on sliding-mode observer
CN112417755A (en) A master-slave surgical robot trajectory prediction control method
CN105629729A (en) Network mobile robot locus tracking control method based on linearity auto-disturbance rejection
CN108227490A (en) A kind of model-free adaption sliding-mode control of New-type mixed-coupled formula automobile electrophoretic coating conveyor structure
CN115890735B (en) Robotic arm system, robotic arm and control method thereof, controller and storage medium
CN117944055B (en) Humanoid robot limb cooperative balance control method and device
CN114654470B (en) Upper limb exoskeleton system cooperative follow-up control method based on active disturbance rejection control strategy
WO2025050569A1 (en) Data-driven bipartite-consensus control method for turning large-sized workpiece by means of multi-robot collaboration
CN114434441B (en) Visual servo tracking control method for mobile robot based on adaptive dynamic programming
CN113843795A (en) Joint module compliant motion control method based on double-stator magnetic regulating motor
CN112571420A (en) Dual-function model prediction control method under unknown parameters
CN115972195A (en) A Fast Impedance Control Method for Flexible Joint Space Robot Based on Contact Torque Compensation
Kim et al. Model predictive control of an autonomous vehicle
Campa et al. Modeling, Path Planning and Control of Robot Manipulators
CN104950683A (en) Self-adaptive gap inverse model generating device for visual servo manipulator system
Madsen et al. Aurt: A tool for dynamics calibration of robot manipulators
CN118404591B (en) Adaptive identification method for nonlinear dynamic parameters of speed reducer
WO2025050879A1 (en) Control system and method for mobile manipulation robot
CN105345824A (en) Self-adaption hysteresis eliminating device of visual servo mechanical arm
Zhang et al. An adaptive type-2 fuzzy sliding mode tracking controller for a robotic manipulator.
Burlacu et al. A different approach to solving the PBVS control problem
Ye et al. Novel two-stage hybrid IBVS controller combining Cartesian and polar based methods
CN116197896A (en) Fixed time dynamic surface track tracking control method of pneumatic mechanical arm system
KR20130076393A (en) System for generating optimal trajectory of robot manipulator that minimized the joint torque variation and method therefor

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
WD01 Invention patent application deemed withdrawn after publication

Application publication date: 20211228

WD01 Invention patent application deemed withdrawn after publication