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CN-121989227-A - Robot joint moment control system and method

CN121989227ACN 121989227 ACN121989227 ACN 121989227ACN-121989227-A

Abstract

The invention discloses a robot joint moment control system and method, comprising a joint moment sensor for detecting the actual output moment of a joint, a joint driver for driving the robot joint to move according to a control instruction, a bearing pre-tightening mechanism for applying pre-tightening force to a joint bearing, a multi-source environment sensing module comprising a temperature sensor for detecting the temperature of the bearing, a vibration sensor for detecting the frequency and amplitude of mechanical vibration and an electromagnetic interference detector for detecting the electromagnetic interference intensity, and an intelligent compensation module integrated in a controller, wherein the intelligent compensation module comprises a thermal deformation compensation unit, the input end of which is connected with the temperature sensor and is used for generating a first moment compensation amount. The invention realizes high stability control of the robot joint moment, reduces the influence of various interferences and uncertainties on the moment control effect, obviously improves the reliability under complex working conditions, and meets the requirement of higher precision robot joint moment control.

Inventors

  • LI YANQIONG
  • WANG PENGFEI

Assignees

  • 道氪云(江苏)科技有限公司

Dates

Publication Date
20260508
Application Date
20251224

Claims (8)

  1. 1.A robot joint torque control system, comprising: The joint moment sensor is used for detecting the actual output moment of the joint; a joint driver for driving the robot to move according to the control instruction; The bearing pre-tightening mechanism is used for applying pre-tightening force to the knuckle bearing; The multisource environment sensing module comprises a temperature sensor for detecting the temperature of the bearing, a vibration sensor for detecting the frequency and the amplitude of mechanical vibration and an electromagnetic interference detector for detecting the intensity of electromagnetic interference; the intelligent compensation module, integrate in the controller, intelligent compensation module includes: the thermal deformation compensation unit is connected with the temperature sensor at the input end and used for generating a first moment compensation amount and comprises a static compensation sub-module and a dynamic compensation sub-module which are connected in series; The input end of the environment interference compensation unit is connected with the vibration sensor and the electromagnetic interference detector and is used for generating a second moment compensation quantity, and the environment interference compensation unit outputs an actual moment signal detected by the joint moment sensor Processing to inhibit environmental interference and output clean torque signal with inhibited interference Then calculating the difference between the actual output torque signal and the clean torque signal as a second torque compensation amount ; And the controller is used for receiving a target torque command and the actual output torque fed back by the joint torque sensor, fusing the first torque compensation quantity and the second torque compensation quantity, generating a final control signal to drive the joint driver through a parameter-adjustable self-adaptive PID control algorithm, and generating the target torque command according to a preset joint torque control requirement or a work task plan by the robot.
  2. 2. The robot joint torque control system of claim 1, wherein the static compensation sub-module is configured to perform the following calculation process to output a static compensation amount : Firstly, calculating the variation of the pretightening force based on a linear model of the pretightening force changing along with the temperature ; Then, the pretightening force is changed Mapping to the change of the friction moment on the joint shaft 。
  3. 3. The robot joint torque control system of claim 2, wherein the dynamic compensation sub-module compensates in static amounts As input and based on transfer functions of the dynamic compensation sub-modules And dynamically correcting and outputting a first moment compensation quantity.
  4. 4. The robot joint torque control system according to claim 1, wherein the environmental disturbance compensation unit receives the actual output torque detected by the joint torque sensor The specific process of filtering the environmental interference component is as follows: The environmental disturbance compensation unit comprises a vibration disturbance compensation sub-module for using an adaptive notch filter pair Filtering to suppress vibration-induced narrow-band noise, i.e. to filter out narrow-band noise, contributing to clean torque signal Is generated; center frequency of the adaptive notch filter Locking in real time the primary vibration frequency detected by the vibration sensor ; The environment interference compensation unit also comprises an electromagnetic interference compensation submodule, wherein the electromagnetic interference compensation submodule is used for adopting a self-adaptive filter pair based on a least mean square algorithm Filtering to suppress signal drift and noise caused by electromagnetic interference, i.e. filtering signal drift and noise caused by electromagnetic interference, contributing to clean moment signal Is generated; The self-adaptive filter takes an electromagnetic interference intensity signal as a reference input to cancel relevant interference in a moment signal; The vibration disturbance compensation sub-module is also used for compensating the sub-module according to the detected vibration amplitude The quality factor Q value of the adaptive notch filter is adaptively adjusted.
  5. 5. The robot joint torque control system of claim 4, wherein the proportional gain of the adaptive PID control algorithm Integral gain Differential gain Performing real-time adjustment according to a comprehensive environment evaluation index E; the comprehensive environmental assessment index E is calculated by the following formula: ; Wherein, the As an absolute value of the temperature deviation, For the amplitude of the vibration, In order to be able to adapt the strength of the electromagnetic interference, 、 And (3) with Is a weight coefficient.
  6. 6. The robot joint torque control system of claim 5, further comprising a learning module for optimizing the weight coefficients 、 And (3) with ; The learning module uses the overshoot of torque control, the adjustment time and the steady state error as performance indexes, and iteratively updates the weight coefficient by using an optimization algorithm based on historical operation data.
  7. 7. The system for controlling the moment of the joint of the robot according to claim 1, wherein the system comprises a total disturbance observer which regards system model uncertainty, bearing pretightening force change and external environment disturbance as total disturbance based on the theoretical design of the extended state observer And performing real-time estimation; The total disturbance observer estimates the total disturbance value Is fed forward to the control terminal for generating the compensation control quantity.
  8. 8. A method for controlling the moment of a robot joint, which is characterized in that the method comprises the following steps in any one of the required control systems of claims 1-7: step 1, applying a pre-tightening force to a bearing of a robot joint through a bearing pre-tightening mechanism; Step 2, acquiring environmental parameters through a multi-source environmental perception module, which specifically comprises the following steps: Detecting real-time working temperature of the bearing by using a temperature sensor in the multi-source environment sensing module; detecting the mechanical vibration frequency and vibration amplitude of the joint by using a vibration sensor in the multi-source environment sensing module; Detecting the electromagnetic interference intensity of the environment where the joint is located by using an electromagnetic interference detector in the multi-source environment sensing module; Step 3, detecting the actual output moment of the robot joint through a joint moment sensor ; And 4, generating moment compensation quantity through an intelligent compensation module integrated in the controller, wherein the method specifically comprises the following steps of: Generating a first moment compensation amount by using a thermal deformation compensation unit in the intelligent compensation module and taking the real-time working temperature of the bearing detected by the temperature sensor in the step 2 as an input signal, wherein the thermal deformation compensation unit comprises a static compensation sub-module and a dynamic compensation sub-module which are connected in series; The environment interference compensation unit in the intelligent compensation module is utilized, the mechanical vibration frequency and amplitude detected by the vibration sensor in the step 2 and the electromagnetic interference intensity detected by the electromagnetic interference detector are used as input signals, and the actual output moment signal detected by the joint moment sensor in the step 3 is used as input signals Processing to inhibit environmental interference and output clean torque signal with inhibited interference ; Then calculate the actual output torque signal With clean moment signal The difference of (2) obtains a second moment compensation amount ; And 5, executing signal processing and control instruction generation operation by the controller: receiving a target moment instruction of a robot joint, and feeding back actual output moment by a joint moment sensor in step 3 ; Fusing the first moment compensation amount and the second moment compensation amount generated in the step 4; based on the fused compensation quantity, generating a final control signal for driving the joint to move through a parameter-adjustable self-adaptive PID control algorithm; And 6, receiving the final control signal generated by the controller in the step 5 through a joint driver, and driving the robot to move according to the control signal.

Description

Robot joint moment control system and method Technical Field The invention relates to the field of robot control, in particular to a robot joint moment control system and a robot joint moment control method. Background The core goal of the robot joint moment control is to realize accurate output and stable tracking of joint moment, and the influence of factors such as temperature fluctuation, mechanical vibration, electromagnetic interference, uncertainty of a system and the like on moment control is required to be detected in real time, so that the accuracy and reliability of the robot joint movement are ensured, and the requirement on moment control precision under various working conditions is met. The robot joint moment control system is used as a carrier for realizing the control target, and usually needs to integrate functional modules such as moment detection, environment sensing, signal processing, driving execution and the like, and the target moment instruction is converted into actual moment output of the joint through the cooperative work of the modules, but the traditional control system often has the problems that the multi-dimensional environment interference is not fully processed, the moment compensation lacks dynamic adaptability, the control parameters cannot be adjusted along with working conditions and the like, so that the moment control precision is easy to be influenced, and the stability performance is difficult to be kept under complex working conditions. Disclosure of Invention Aiming at the defects in the prior art, the invention provides a robot joint moment control system, which comprises: The joint moment sensor is used for detecting the actual output moment of the joint; the controller is used for processing signals and generating control instructions, the content of the processed signals comprises receiving target moment instructions and actual output moment fed back by the joint moment sensor, and receiving a first moment compensation amount and a second moment compensation amount generated by the intelligent compensation module, and generating a final control signal through a parameter-adjustable self-adaptive PID control algorithm after the first moment compensation amount and the second moment compensation amount are fused; a joint driver for driving the robot to move according to the control instruction; The bearing pre-tightening mechanism is used for applying pre-tightening force to the knuckle bearing; The multisource environment sensing module comprises a temperature sensor for detecting the temperature of the bearing, a vibration sensor for detecting the frequency and the amplitude of mechanical vibration and an electromagnetic interference detector for detecting the intensity of electromagnetic interference; the intelligent compensation module, integrate in the controller, intelligent compensation module includes: the thermal deformation compensation unit is connected with the temperature sensor at the input end and used for generating a first moment compensation amount and comprises a static compensation sub-module and a dynamic compensation sub-module which are connected in series; The input end of the environment interference compensation unit is connected with the vibration sensor and the electromagnetic interference detector and is used for generating a second moment compensation quantity, and the environment interference compensation unit outputs an actual moment signal detected by the joint moment sensor Processing to inhibit environmental interference and output clean torque signal with inhibited interferenceThen calculating the difference between the actual output torque signal and the clean torque signal as a second torque compensation amountI.e.; The controller is used for receiving the target torque command and the actual output torque fed back by the joint torque sensor, fusing the first torque compensation quantity and the second torque compensation quantity, and generating a final control signal to drive the joint driver through a parameter-adjustable self-adaptive PID control algorithm. Further, the static compensation sub-module is used for executing the following calculation process to output a static compensation amount: Firstly, calculating the variation of the pretightening force based on a linear model of the pretightening force changing along with the temperatureThe method specifically comprises the following steps: ; Wherein, the To be at the reference temperatureThe initial pre-tightening force applied by the lower part,Is the coefficient of thermal expansion of the bearing material,The working temperature of the bearing is detected in real time by a temperature sensor; Subsequently, the pretightening force variation is performed The change amount of friction moment on the joint shaft is mapped, specifically: ; Wherein, the Is the equivalent coefficient of friction of the bearing,Is the effective friction radius of the bearing. Further,