Feed-forward control of elastic-joint industrial robot based on hybrid inverse dynamic model

被引：7

作者：

Mei Zaiwu ^{[1
]}

Chen Liping ^{[1
]}

Ding Jianwan ^{[1
]}

机构：

[1] Huazhong Univ Sci & Technol, Sch Mech Sci & Engn, Wuhan, Peoples R China

来源：

ADVANCES IN MECHANICAL ENGINEERING | 2021年 / 13卷 / 09期

基金：

国家重点研发计划;

关键词：

Feedforward control; elastic-joint robot; hybrid model; Lie group; multi-domain; COMPUTED TORQUE CONTROL; TRACKING CONTROL; ROBUST; MANIPULATORS;

D O I：

10.1177/16878140211038102

中图分类号：

O414.1 [热力学];

学科分类号：

摘要：

A novel feedforward control method of elastic-joint robot based on hybrid inverse dynamic model is proposed in this paper. The hybrid inverse dynamic model consists of analytical model and data-driven model. Firstly, the inverse dynamic analytical model of elastic-joint robot is established based on Lie group and Lie algebra, which improves the efficiency of modeling and calculation. Then, by coupling the data-driven model with the analytical model, a feed-forward control method based on hybrid inverse dynamics model is proposed. This method can overcome the influence of the inaccuracy of the analytical inverse dynamic model on the control performance, and effectively improve the control accuracy of the robot. The data-driven model is used to compensate for the parameter uncertainties and non-parameter uncertainties of the analytical dynamic model. Finally, the proposed control method is proved to be stable and the multi-domain integrated system model of industrial robot is developed to verify the performance of the control scheme by simulation. The simulation results show that the proposed control method has higher control accuracy than the traditional torque feed-forward control method.

引用

页数：14

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