CN112433474B - 基于scn内干扰力估计的坐垫机器人安全触发控制方法 - Google Patents
基于scn内干扰力估计的坐垫机器人安全触发控制方法 Download PDFInfo
- Publication number
- CN112433474B CN112433474B CN202011357002.8A CN202011357002A CN112433474B CN 112433474 B CN112433474 B CN 112433474B CN 202011357002 A CN202011357002 A CN 202011357002A CN 112433474 B CN112433474 B CN 112433474B
- Authority
- CN
- China
- Prior art keywords
- tracking error
- internal interference
- interference force
- robot
- error
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000009795 derivation Methods 0.000 claims description 6
- 230000001960 triggered effect Effects 0.000 claims description 6
- 230000002401 inhibitory effect Effects 0.000 claims description 4
- 230000005484 gravity Effects 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 3
- 230000006641 stabilisation Effects 0.000 claims description 3
- 238000011105 stabilization Methods 0.000 claims description 3
- -1 hydrogen Chemical class 0.000 claims 1
- 239000001257 hydrogen Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Computation (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Feedback Control In General (AREA)
Abstract
Description
Claims (3)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202011357002.8A CN112433474B (zh) | 2020-11-27 | 2020-11-27 | 基于scn内干扰力估计的坐垫机器人安全触发控制方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202011357002.8A CN112433474B (zh) | 2020-11-27 | 2020-11-27 | 基于scn内干扰力估计的坐垫机器人安全触发控制方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN112433474A CN112433474A (zh) | 2021-03-02 |
CN112433474B true CN112433474B (zh) | 2022-05-13 |
Family
ID=74698331
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202011357002.8A Active CN112433474B (zh) | 2020-11-27 | 2020-11-27 | 基于scn内干扰力估计的坐垫机器人安全触发控制方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN112433474B (zh) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113377115B (zh) * | 2021-07-05 | 2023-10-20 | 沈阳工业大学 | 服务机器人具有自主学习暂态运动时间的稳定控制方法 |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105005195B (zh) * | 2014-04-18 | 2019-03-29 | 东北大学 | 一种上肢康复机器人康复训练运动控制方法 |
CN105320138B (zh) * | 2015-11-28 | 2017-11-07 | 沈阳工业大学 | 康复训练机器人运动速度和运动轨迹同时跟踪的控制方法 |
CN105867130B (zh) * | 2016-04-15 | 2018-11-13 | 沈阳工业大学 | 康复步行训练机器人的轨迹跟踪误差约束安全控制方法 |
CN107479381B (zh) * | 2017-08-29 | 2020-10-02 | 沈阳工业大学 | 冗余康复步行训练机器人各轴跟踪误差最优预测控制方法 |
CN107831667B (zh) * | 2017-11-14 | 2020-09-08 | 沈阳工业大学 | 康复步行训练机器人的补偿人机互作用力的跟踪控制方法 |
CN109276415B (zh) * | 2018-11-28 | 2020-12-22 | 河北工业大学 | 一种下肢外骨骼机器人的控制方法 |
CN109806106A (zh) * | 2019-02-01 | 2019-05-28 | 中山大学 | 一种基于鲁棒控制与导纳控制结合的下肢康复机器人的控制方法 |
CN110412866B (zh) * | 2019-05-14 | 2022-12-23 | 上海大学 | 基于自适应迭代学习的外骨骼单腿协同控制方法 |
CN110989589B (zh) * | 2019-11-30 | 2023-06-06 | 沈阳工业大学 | 一种不同训练者质量随机变化的康复步行机器人的跟踪控制方法 |
CN111856945B (zh) * | 2020-08-06 | 2022-06-14 | 河北工业大学 | 一种基于周期事件触发机制的下肢外骨骼滑模控制方法 |
-
2020
- 2020-11-27 CN CN202011357002.8A patent/CN112433474B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
CN112433474A (zh) | 2021-03-02 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
Chen et al. | New super-twisting zeroing neural-dynamics model for tracking control of parallel robots: A finite-time and robust solution | |
Zhao et al. | Impedance control and performance measure of series elastic actuators | |
CN110076783B (zh) | 一种基于模糊控制和李雅普诺夫函数的平面欠驱动机械臂位置控制方法 | |
CN107942670B (zh) | 一种双柔性空间机械臂模糊鲁棒滑模削抖运动控制方法 | |
Lu et al. | New joint-drift-free scheme aided with projected ZNN for motion generation of redundant robot manipulators perturbed by disturbances | |
CN111173678B (zh) | 一种rbf神经网络俯仰干扰补偿的风力机舱悬浮控制方法 | |
Lv et al. | Design and control of a novel coaxial tilt-rotor UAV | |
Kapnopoulos et al. | A cooperative particle swarm optimization approach for tuning an MPC-based quadrotor trajectory tracking scheme | |
CN112631335B (zh) | 一种基于事件触发的多四旋翼无人机固定时间编队方法 | |
CN110376902B (zh) | 一种欠驱动机械系统伺服约束跟踪控制器的设计方法 | |
CN112433474B (zh) | 基于scn内干扰力估计的坐垫机器人安全触发控制方法 | |
Yu et al. | Disturbance rejection for biped walking using zero-moment point variation based on body acceleration | |
CN107831667B (zh) | 康复步行训练机器人的补偿人机互作用力的跟踪控制方法 | |
Song et al. | Vibration control of a high-rise building structure: theory and experiment | |
Zheng et al. | Saturated adaptive-law-based backstepping and its applications to a quadrotor hover | |
Derr et al. | Adaptive control parameters for dispersal of multi-agent mobile ad hoc network (MANET) swarms | |
CN112506054B (zh) | 基于scn观测主动推力的康复机器人随机有限时间稳定控制 | |
CN113814985B (zh) | 一种机器人控制方法、控制柜及系统 | |
Zhang et al. | Neural network-based cooperative trajectory tracking control for a mobile dual flexible manipulator | |
Du et al. | Application of IPSO algorithm to inverse kinematics solution of reconfigurable modular robots | |
Karimi et al. | Decentralized adaptive control of large-scale affine and nonaffine nonlinear systems | |
CN112433475B (zh) | 基于scn系统偏移量辨识的坐垫机器人限时学习控制方法 | |
Wei et al. | Design and implement of LQR controller for a self-balancing unicycle robot | |
CN112571424B (zh) | 基于scn步行力估计的康复机器人各轴速度直接约束控制 | |
CN110568845A (zh) | 一种协同机器人的相互碰撞规避方法 |
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 | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20231219 Address after: Room 501, Office Building, No. 48 Tianjin Road, Beijing Road Street, Economic Development Zone, Rizhao City, Shandong Province, 276800 Patentee after: Rizhao Donggang Ziyan Network Technology Co.,Ltd. Address before: 230000 floor 1, building 2, phase I, e-commerce Park, Jinggang Road, Shushan Economic Development Zone, Hefei City, Anhui Province Patentee before: Dragon totem Technology (Hefei) Co.,Ltd. Effective date of registration: 20231219 Address after: 230000 floor 1, building 2, phase I, e-commerce Park, Jinggang Road, Shushan Economic Development Zone, Hefei City, Anhui Province Patentee after: Dragon totem Technology (Hefei) Co.,Ltd. Address before: 110870, No. 111, Shen Xi Road, Shenyang economic and Technological Development Zone, Shenyang, Liaoning Patentee before: SHENYANG University OF TECHNOLOGY |