Abstract
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.
Highlights
Industrial robots are widely used in modern industrial manufacture, such as paint spraying, welding, grinding[1] milling,[2] drilling,[3] and so on
This paper proposed an inverse dynamic feedforward control method of industrial robot with elastic joints based on hybrid model
The hybrid model is composed of analytical inverse dynamic model and data-driven model
Summary
Industrial robots are widely used in modern industrial manufacture, such as paint spraying, welding, grinding[1] milling,[2] drilling,[3] and so on. It can be seen that the inverse dynamic control of elastic-joint robot mainly faces two problems: one is the derivation calculation of high-order kinematics and dynamics is complex and tedious, the other is that the accurate dynamic model is hard to be established. For simplicity and efficiency, the analytical inverse dynamic model of elastic-joint robot is established based on Lie group and Lie algebra. Compared with the traditional D-H parameter method, the efficiency is increased by 22.7%
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