The invention provides a foot-type robot contact force control method based on new impedance configuration, which comprises the following steps: building a position-based impedance control model and a force-based impedance control model to obtain a robot single-leg impedance new configuration control model; analyzing the steady-state error of the foot end contact force of the robot under impedance control, and obtaining a condition equation of foot end contact force following; carrying out real-time online estimation on unknown parameters in the foot end contact force following condition equation by utilizing an indirect self-adaptive control method; determining the working range of the foot end contact force control method based on the ground environment error for realizing foot end contact force following; and based on the robot single-leg impedance new configuration control model, obtaining the foot type robot contact force control method based on the impedance new configuration. According to the contact force control method based on the new impedance configuration, the robustness of a control system is improved, and the moving ability of the robot in an unknown environment is effectively guaranteed.
本发明提供一种基于阻抗新构型的足式机器人接触力控制方法,其包括以下步骤:搭建基于位置阻抗控制模型和基于力阻抗控制模型,获得机器人单腿阻抗新构型控制模型;分析阻抗控制下机器人足端接触力的稳态误差,获得足端接触力跟随的条件方程;利用间接自适应控制方法对足端接触力跟随条件方程中的未知参数进行实时在线估计;基于实现足端接触力跟随的地面环境误差大小,确定足端接触力控制方法的工作范围;基于机器人单腿阻抗新构型控制模型,得到基于阻抗新构型的足式机器人接触力控制方法。本发明的基于阻抗新构型的接触力控制方法,提升了控制系统的鲁棒性,有效保证了机器人在未知环境中的移动能力。
Foot type robot contact force control method based on new impedance configuration
基于阻抗新构型的足式机器人接触力控制方法
2024-01-26
Patent
Elektronische Ressource
Chinesisch
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