CN112454351A - Manipulator control method and device and manipulator - Google Patents

Manipulator control method and device and manipulator Download PDF

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Publication number
CN112454351A
CN112454351A CN202011176923.4A CN202011176923A CN112454351A CN 112454351 A CN112454351 A CN 112454351A CN 202011176923 A CN202011176923 A CN 202011176923A CN 112454351 A CN112454351 A CN 112454351A
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current
end effector
force
controller
manipulator
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CN112454351B (en
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胡刚毅
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Shanghai Jingyi Intelligent Control Technology Co ltd
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Shanghai Jingyi Intelligent Control Technology Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1651—Programme controls characterised by the control loop acceleration, rate control

Abstract

The application discloses a manipulator control method, a manipulator control device and a manipulator, wherein the control method comprises the following steps: the method includes receiving, by an adaptive controller, a current grasping force of an end effector of the manipulator and a current position of the end effector, performing a desired position estimation of the end effector based on the current grasping force and the current position to obtain a desired position, and transmitting the desired position to an impedance controller. The impedance controller converts the current grasping force, the current position and the expected position, obtains a difference value between the current grasping force and the expected force, converts the difference value into a displacement deviation according to a first-order impedance admittance model simplified by a dynamic model when the end effector collides with an object, corrects the expected position according to the displacement deviation, obtains a corrected position and transmits the corrected position to the sliding mode controller. And the sliding mode controller adjusts and controls the output voltage of the motor of the end effector according to the current position and the displacement difference between the current position and the corrected position so as to adjust the current grabbing force of the end effector.

Description

Manipulator control method and device and manipulator
Technical Field
The application relates to the technical field of robot control, in particular to a manipulator control method, a manipulator control device and a manipulator.
Background
The ocean hides a large amount of resources and energy, and with the increasing shortage of land resources, the sustainable development of human beings will depend on the ocean more and more. In the prior art, exploration and development of marine resources are generally performed by using an underwater robot, and a manipulator used for grabbing operation in the underwater robot is one of key technologies for development and application of the underwater robot. Due to the complexity and the particularity of grabbing operation, the conventional manipulator has low success rate in grabbing and high damage rate of grabbed objects.
For solving the problem, in the prior art, the manipulator is controlled by adopting a mode of matching a torsion sensor and a force sensor with a double closed-loop control, so that the flexible grabbing is realized. The position inner ring is controlled by incremental PID, the force outer ring is controlled by variable stiffness coefficient impedance, and the displacement exchange of the grabbing force and the end effector can be considered. However, when the prior art is adopted to control underwater grabbing operation of the manipulator, it is found that due to the influence of the underwater environment, the contact point between the manipulator and the object to be grabbed is uncertain, and therefore the sensor may not detect whether the manipulator grabs the object or not, or the detection information is incomplete, so that the manipulator lacks sufficient sensor feedback, the grabbing force exceeds the expected grabbing force and cannot be adjusted in time, and further the grabbed object is damaged and the manipulator is easily damaged.
Disclosure of Invention
The application aims to solve at least one of technical problems in the prior art, and provides a manipulator control method, a manipulator control device and a manipulator, so that the damage rate of the manipulator during underwater grabbing operation is reduced, and the grabbing efficiency of underwater objects is improved.
The embodiment of the application provides a manipulator control method, which comprises the following steps:
the method includes receiving, by an adaptive controller, a current grasping force of an end effector of the manipulator and a current position of the end effector, performing a desired position estimation of the end effector based on the current grasping force and the current position to obtain a desired position, and transmitting the desired position to an impedance controller.
The impedance controller receives the current grasping force, the current position and the desired position, and bases the current grasping force, the current position and the desired position on a formula
Figure BDA0002748526710000021
Converting the difference value into a displacement deviation according to a first-order impedance admittance model simplified from a dynamic model when the end effector collides with the object after obtaining the difference value between the current grasping force and the expected force, correcting the expected position according to the displacement deviation, obtaining a corrected position and transmitting the corrected position to a sliding mode controller, wherein m isd、bdAnd kdRespectively an inertia coefficient, a damping coefficient and a rigidity coefficient of the impedance controller,
Figure BDA0002748526710000022
and xrRespectively a preset acceleration, a preset velocity and a desired position,
Figure BDA0002748526710000023
and x is the acceleration of the end effector, the velocity and the current position of the end effector, F, respectivelyrCurrent grip force and desired force, respectively.
And the sliding mode controller adjusts and controls the output voltage of the motor of the end effector according to the current position and the displacement difference between the current position and the corrected position so as to adjust the current grabbing force of the end effector.
Further, before the impedance controller receives the current grasping force, the current position and the desired position, the method further comprises:
and sending the current grabbing force to a fuzzy controller, and adjusting a damping coefficient by the fuzzy controller according to the difference value between the current grabbing force and the preset grabbing force.
Further, estimating a desired position of the end effector based on the current grasping force and the current position to obtain the desired position, including:
basing a current grip force and a current position on a system of equations
Figure BDA0002748526710000024
Figure BDA0002748526710000025
Figure BDA0002748526710000026
Estimating the expected position to obtain the expected position
Figure BDA0002748526710000027
Wherein the content of the first and second substances,
Figure BDA0002748526710000028
is the stiffness coefficient of the object at time t,
Figure BDA0002748526710000029
is the position of the object at time t,
Figure BDA00027485267100000210
is an initial preset value of the stiffness coefficient of the object,
Figure BDA00027485267100000211
for an initial preset position, ξ, of the object1And xi2Is a constant number greater than zero and is,
Figure BDA0002748526710000039
the preset gripping force is set, and F is the current gripping force.
Further, the model of the end effector is:
Figure BDA0002748526710000031
wherein the content of the first and second substances,
Figure BDA0002748526710000032
ucfor control voltage, R is armature resistance, KbIs the back electromotive constant of the motor, KtIs the torque constant of the motor, J is the rotational inertia of the motor, B is the viscous friction damping coefficient of the motor, P is the lead of the screw rod, KsIs the power amplification factor.
Further, the sliding mode function of the sliding mode controller is
Figure BDA0002748526710000033
Wherein c is>0，e＝xr-x。
Further, the correcting the expected position according to the displacement deviation includes:
according to positionShifting the deviation, using an exponential approach rate to the desired position
Figure BDA0002748526710000034
Making a correction of>0,k>0。
Further, the sliding mode control rate of the sliding mode controller is as follows:
Figure BDA0002748526710000035
further, an embodiment of the present application further provides a manipulator control device, including:
and the adaptive controller is used for receiving the current gripping force of the end effector of the manipulator and the current position of the end effector, estimating the expected position of the end effector according to the current gripping force and the current position to obtain the expected position, and transmitting the expected position to the impedance controller.
An impedance controller for receiving the current grasping force, the current position and the desired position, and basing the current grasping force, the current position and the desired position on a formula
Figure BDA0002748526710000036
Converting the difference value into a displacement deviation according to a first-order impedance admittance model simplified from a dynamic model when the end effector collides with the object after obtaining the difference value between the current grasping force and the expected force, correcting the expected position according to the displacement deviation, obtaining a corrected position and transmitting the corrected position to a sliding mode controller, wherein m isd、bdAnd kdRespectively an inertia coefficient, a damping coefficient and a rigidity coefficient of the impedance controller,
Figure BDA0002748526710000037
and xrRespectively a preset acceleration, a preset velocity and a desired position,
Figure BDA0002748526710000038
and x is the acceleration of the end effector, the velocity and the current position of the end effector, F, respectivelyrAre respectively the currentGrip force and desired force.
And the sliding mode controller is used for adjusting and controlling the output voltage of the motor of the end effector according to the current position and the displacement difference between the current position and the corrected position so as to adjust the current grabbing force of the end effector.
Further, in the embodiment of the present application, the method further includes:
and the fuzzy controller is used for adjusting the damping coefficient according to the difference value between the current grabbing force and the preset grabbing force.
Further, this application embodiment provides a manipulator, includes: an end effector, a motor, and a robot control device as described in the above embodiments;
the input end of the end effector is connected with the output end of the motor, the input end of the motor is connected with the manipulator control device, and the output end of the end effector is connected with the manipulator control device.
Compared with the prior art, the expected position is obtained through the current grabbing force and the current position of the end effector in the embodiment, the difference value between the current grabbing force and the expected force is obtained by the impedance controller based on a specific formula, the difference value is converted into the displacement deviation through the simplified first-order impedance admittance model, the corrected position is obtained according to the displacement deviation, the output voltage of the motor of the end effector is adjusted by the sliding mode controller according to the displacement difference of the corrected position, the current grabbing force of the end effector is adjusted, the functions of the force sensor and the torque sensor are replaced, the protection is added to the force overload of the manipulator, the robustness is effectively improved, the stability of the grabbing process is improved, and the method has good adaptability.
The embodiment adjusts the damping coefficient in real time by applying the fuzzy rule in the fuzzy controller, so that the stability of the transition process is ensured while the impact force is reduced.
The embodiment improves the correction effect by correcting the expected position by adopting the exponential approach rate.
According to the embodiment, the sliding mode control rate of the sliding mode controller is set, so that the stability of sliding mode control is improved.
Drawings
The present application is further described below with reference to the drawings and examples.
Fig. 1 is a flowchart illustrating a robot control method according to an embodiment.
Fig. 2 is a schematic structural diagram of a robot control device in one embodiment.
Fig. 3 is a schematic structural diagram of a robot control device in another embodiment.
Fig. 4 is a schematic structural diagram of a robot in one embodiment.
Detailed Description
Reference will now be made in detail to the present embodiments of the present application, preferred embodiments of which are illustrated in the accompanying drawings, which are for the purpose of visually supplementing the description with figures and detailed description, so as to enable a person skilled in the art to visually and visually understand each and every feature and technical solution of the present application, but not to limit the scope of the present application.
In the prior art, the underwater manipulator adopts a mode that a torsion sensor and a force sensor are matched with a double closed-loop control to control the manipulator, so that the smooth grabbing is realized. The position inner ring is controlled by incremental PID, the force outer ring is controlled by variable stiffness coefficient impedance, and the displacement exchange of the grabbing force and the end effector can be considered. However, when the prior art is adopted to control underwater grabbing operation of the manipulator, it is found that due to the influence of the underwater environment, the contact point between the manipulator and the object to be grabbed is uncertain, and therefore the sensor may not detect whether the manipulator grabs the object or not, or the detection information is incomplete, so that the manipulator lacks sufficient sensor feedback, the grabbing force exceeds the expected grabbing force and cannot be adjusted in time, and further the grabbed object is damaged and the manipulator is easily damaged.
In order to solve the above-mentioned technical problem, as shown in fig. 1, there is provided a robot control method including:
and S1, receiving the current grasping force of the end effector of the manipulator and the current position of the end effector through the adaptive controller, estimating the expected position of the end effector according to the current grasping force and the current position to obtain the expected position, and transmitting the expected position to the impedance controller.
In the embodiment, the current of the motor is directly detected through the current sensor, the output torque of the motor and the output gripping force of the manipulator are estimated, and a torque sensor is arranged at the tail end of the manipulator or at the output shaft of the motor instead of an unknown force sensor. In the free movement stage, after voltage is given, the motor overcomes the friction torque of the manipulator system and then rotates, after the manipulator system touches an object, the motor current is used for estimating force control, and the gripping force is estimated after the motor current is detected.
In this embodiment, the specific method for acquiring the current grasping force of the end effector of the robot and the current position of the end effector is as follows:
and S11, establishing a state equation of each motor according to the motor type of the manipulator and different motor parameters. In the following, a dc motor and a dc brushless servo motor are taken as examples. For a direct current motor, the current i and the load torque TLThe relation of (A) is as follows:
i＝(TL+T0)/Ktφ
wherein KtPhi is the structural parameter of the motor, and is the magnetic flux of a pair of magnetic poles, T0The motor rubs the torque. The load torque T can be seenLIs linear with the current i.
For a DC brushless, the current i and the load torque TLThe relation of (A) is as follows:
id＝TL/Ctφ
wherein C istIs a motor structural parameter, because the brushless motor is of a three-phase structure, i at this timedIs a dc bus current.
For the alternating current motor, because the control of the alternating current motor usually adopts alternating current-direct current-alternating current inversion control, the relation with the motor load can also be established according to the current of a direct current bus, but the formula is more complex and is not listed in detail.
In summary, the functional relationship between the current i and the load torque TL can be established as follows:
i＝G(TL)
s12, establishing a force transfer model according to the transmission structure of the manipulator, and establishing a function equation of the gripping force, the motor input torque and the rotation angle during contact as follows:
TL＝H(fe)+J(θ)
the theta is the rotation angle of the manipulator, and the force output corresponding to different theta positions is different for different mechanical structures, so that an encoder or an angle sensor is generally required to detect the operation angle, but for the manipulator with a single function, the rotation angle position can be roughly judged according to the recorded operation time at a given speed.
S13, establishing a force transfer mathematical estimation model according to the transmission structure of the manipulator, and establishing a function equation (set) of the gripping force, the motor input torque and the rotation angle during contact:
i＝H(G(fe)+J(θ))
and S14, establishing an inverse operation relation of the mathematical estimation model, and directly inputting the obtained gripping force into a control system through inverse conversion to complete target control when the object is contacted.
fe＝G-1(H-1(i)-J(θ))
The environmental model can be generally simplified as a linear spring: k is F ═ ke(x-xe) F is the grasping power, keIs a target stiffness coefficient, xeIs the target location.
When the rigidity and the position of the object to be grabbed are accurately known,
Figure BDA0002748526710000071
the grabbing force can achieve error-free tracking when the desired position is reached.
Target stiffness coefficient k in complex environmenteAnd a target position xeCannot be known precisely. Therefore, to solve the target stiffness coefficient keAnd a target position xeForce errors caused by uncertainty are corrected in real time by the most direct method.
In this embodiment, estimating a desired position of the end effector based on the current grasping force and the current position to obtain the desired position includes:
basing a current grip force and a current position on a system of equations
Figure BDA0002748526710000072
Figure BDA0002748526710000073
Figure BDA0002748526710000074
Estimating the expected position to obtain the expected position
Figure BDA0002748526710000075
Wherein the content of the first and second substances,
Figure BDA0002748526710000076
for the stiffness coefficient of the object at time t,
Figure BDA0002748526710000077
is the position of the object at time t,
Figure BDA0002748526710000078
is an initial preset value of the stiffness coefficient of the object,
Figure BDA0002748526710000079
for an initial preset position, ξ, of the object1And xi2Is a constant number greater than zero and is,
Figure BDA00027485267100000710
and F is the current gripping force.
In one embodiment, before the impedance controller receives the current grasping force, the current position, and the desired position, further comprising:
and sending the current grabbing force to a fuzzy controller, and adjusting a damping coefficient by the fuzzy controller according to the difference value between the current grabbing force and the preset grabbing force.
S2, the resistance controller receives the current grabbing force, the current position and the expected position, and bases the current grabbing force, the current position and the expected position on formulas
Figure BDA00027485267100000711
Converting the difference value into a displacement deviation according to a first-order impedance admittance model simplified from a dynamic model when the end effector collides with the object after obtaining the difference value between the current grasping force and the expected force, correcting the expected position according to the displacement deviation, obtaining a corrected position and transmitting the corrected position to a sliding mode controller, wherein m isd、bdAnd kdRespectively an inertia coefficient, a damping coefficient and a rigidity coefficient of the impedance controller,
Figure BDA0002748526710000081
and xrRespectively a preset acceleration, a preset velocity and a desired position,
Figure BDA0002748526710000082
and x is the acceleration of the end effector, the velocity and the current position of the end effector, F, respectivelyrCurrent grip force and desired force, respectively.
In this embodiment, the model of the end effector is:
Figure BDA0002748526710000083
wherein the content of the first and second substances,
Figure BDA0002748526710000084
ucfor control voltage, R is armature resistance with unit of omega, KbIs the back electromotive constant of the motor, KtIs the torque constant of the motor, J is the moment of inertia of the motor, and has the unit of kg.m2B is the viscous friction damping coefficient of the motor, the unit is N.m, P is the lead of the screw rod, KsIs the power amplification factor.
In this embodiment, correcting the desired position according to the displacement deviation includes:
according to the displacement deviation, adopting an exponential approach rate to the expected position
Figure BDA0002748526710000085
Making a correction of>0,k>0。
Wherein, the index approach rate formula is a standard formula formed by convention.
In the embodiment, the impedance control of the impedance controller is adopted as the force outer ring control, so that the impedance parameters can be adjusted in real time according to different requirements on the impedance parameters at different stages, and the stability of the transition process is ensured while the impact force is reduced.
And S3, the sliding mode controller adjusts the output voltage of the motor controlling the end effector according to the current position and the displacement difference between the current position and the corrected position so as to adjust the current grasping force of the end effector.
In this embodiment, the sliding mode function of the sliding mode controller is
Figure BDA0002748526710000086
Wherein c is>0 and satisfies the Hurwitz condition, e ═ xr-x。
In this embodiment, the sliding mode control rate of the sliding mode controller is:
Figure BDA0002748526710000087
in the embodiment, the sliding mode control of the sliding mode controller is adopted as the position inner loop control, so that the robustness of the manipulator can be effectively enhanced.
In one embodiment, as shown in fig. 2, there is provided a robot control device including:
and the adaptive controller 101 is used for receiving the current gripping force of the end effector of the manipulator and the current position of the end effector, estimating the expected position of the end effector according to the current gripping force and the current position to obtain the expected position, and transmitting the expected position to the impedance controller.
An impedance controller 102 for receiving the current grasping force, the current position and the desired position, and basing the current grasping force, the current position and the desired position on a formula
Figure BDA0002748526710000091
Converting the difference value into a displacement deviation according to a first-order impedance admittance model simplified from a dynamic model when the end effector collides with the object after obtaining the difference value between the current grasping force and the expected force, correcting the expected position according to the displacement deviation, obtaining a corrected position and transmitting the corrected position to a sliding mode controller, wherein m isd、bdAnd kdRespectively an inertia coefficient, a damping coefficient and a rigidity coefficient of the impedance controller,
Figure BDA0002748526710000092
and xrRespectively a preset acceleration, a preset velocity and a desired position,
Figure BDA0002748526710000093
and x is the acceleration of the end effector, the velocity and the current position of the end effector, F, respectivelyrCurrent grip force and desired force, respectively.
And the sliding mode controller 103 is used for adjusting the output voltage of the motor for controlling the end effector according to the current position and the displacement difference between the current position and the corrected position so as to adjust the current grasping force of the end effector.
In another embodiment, as shown in fig. 3, the robot control device includes:
and the adaptive controller 101 is used for receiving the current gripping force of the end effector of the manipulator and the current position of the end effector, estimating the expected position of the end effector according to the current gripping force and the current position to obtain the expected position, and transmitting the expected position to the impedance controller.
An impedance controller 102 for receiving the current grasping force, the current position and the desired position, and basing the current grasping force, the current position and the desired position on a formula
Figure BDA0002748526710000094
Converting the difference value into a displacement deviation according to a first-order impedance admittance model simplified from a dynamic model when the end effector collides with the object after obtaining the difference value between the current grasping force and the expected force, correcting the expected position according to the displacement deviation, obtaining a corrected position and transmitting the corrected position to a sliding mode controller, wherein m isd、bdAnd kdRespectively an inertia coefficient, a damping coefficient and a rigidity coefficient of the impedance controller,
Figure BDA0002748526710000095
and xrRespectively a preset acceleration, a preset velocity and a desired position,
Figure BDA0002748526710000101
and x is the acceleration of the end effector, the velocity and the current position of the end effector, F, respectivelyrCurrent grip force and desired force, respectively.
And the sliding mode controller 103 is used for adjusting the output voltage of the motor for controlling the end effector according to the current position and the displacement difference between the current position and the corrected position so as to adjust the current grasping force of the end effector.
And the fuzzy controller 104 is used for adjusting the damping coefficient according to the difference value between the current grabbing force and the preset grabbing force.
In one embodiment, the adaptive controller is specifically configured to base the current grasping force and the current position on a system of equations
Figure BDA0002748526710000102
Figure BDA0002748526710000103
Figure BDA0002748526710000104
Estimating the expected position to obtain the expected position
Figure BDA0002748526710000105
Wherein the content of the first and second substances,
Figure BDA0002748526710000106
for the stiffness coefficient of the object at time t,
Figure BDA0002748526710000107
is the position of the object at time t,
Figure BDA0002748526710000108
is an initial preset value of the stiffness coefficient of the object,
Figure BDA0002748526710000109
for an initial preset position, ξ, of the object1And xi2Is a constant number greater than zero and is,
Figure BDA00027485267100001010
and F is the current gripping force.
In one embodiment, as shown in fig. 4, there is provided a robot arm including: an end effector 1, a motor 2, and a robot control device as described in the above embodiments.
The input end of the end effector 1 is connected with the output end of the motor 2, the input end of the motor 2 is connected with the manipulator control device, and the output end of the end effector 1 is connected with the manipulator control device.
The foregoing is a preferred embodiment of the present application, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present application, and these modifications and decorations are also regarded as the protection scope of the present application.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.

Claims (10)

1. A method for controlling a robot, comprising:
receiving, by an adaptive controller, a current grasping force of an end effector of a manipulator and a current position of the end effector, performing desired position estimation on the end effector according to the current grasping force and the current position to obtain a desired position, and transmitting the desired position to an impedance controller;
the impedance controller receives the current grip force, the current position, and the desired position, and bases the current grip force, the current position, and the desired position on a formula
Figure FDA0002748526700000011
Converting, after obtaining the difference between the current grasping force and the expected force, converting the difference into a displacement deviation according to a first-order impedance admittance model simplified from a dynamic model when the end effector collides with an object, correcting the expected position according to the displacement deviation, obtaining a corrected position, and transmitting the corrected position to a sliding mode controller, wherein m is the sum of the displacement deviation and the expected positiond、bdAnd kdRespectively an inertia coefficient, a damping coefficient and a rigidity coefficient of the impedance controller,
Figure FDA0002748526700000012
and xrRespectively a preset acceleration, a preset velocity and the desired position,
Figure FDA0002748526700000013
and x is the acceleration of the end effector, respectivelySpeed of the device and said current position, FrThe current grip force and the desired force, respectively;
and the sliding mode controller adjusts and controls the output voltage of a motor of the end effector according to the current position and the displacement difference between the current position and the corrected position so as to adjust the current grabbing force of the end effector.
2. The robot control method of claim 1, further comprising, before the impedance controller receives the current grasping force, the current position, and the desired position:
and sending the current grabbing force to a fuzzy controller, and adjusting the damping coefficient by the fuzzy controller according to the difference value between the current grabbing force and the preset grabbing force.
3. The robot control method according to claim 1, wherein the performing a desired position estimation of the end effector based on the current grasping force and the current position to obtain a desired position comprises:
basing the current grasping force and the current position on a system of equations
Figure FDA0002748526700000021
Figure FDA0002748526700000022
Figure FDA0002748526700000023
Estimating the expected position to obtain the expected position
Figure FDA0002748526700000024
Wherein the content of the first and second substances,
Figure FDA0002748526700000025
for the stiffness coefficient of the object at time t,
Figure FDA0002748526700000026
is the position of the object at time t,
Figure FDA0002748526700000027
is an initial preset value of the stiffness coefficient of the object,
Figure FDA0002748526700000028
for an initial preset position, ξ, of the object1And xi2Is a constant number greater than zero and is,
Figure FDA0002748526700000029
and F is the current gripping force.
4. The robot control method according to claim 1, wherein the model of the end effector is:
Figure FDA00027485267000000210
wherein the content of the first and second substances,
Figure FDA00027485267000000211
ucfor control voltage, R is armature resistance, KbIs the back electromotive constant of the motor, KtIs the torque constant of the motor, J is the rotational inertia of the motor, B is the viscous friction damping coefficient of the motor, P is the lead of the screw rod, KsIs the power amplification factor.
5. The robot control method of claim 1, wherein the sliding mode function of the sliding mode controller is
Figure FDA00027485267000000212
Wherein c is>0，e＝xr-x。
6. The robot control method according to claim 4, wherein the correcting the desired position based on the displacement deviation includes:
according to the displacement deviation, adopting an exponential approach rate for the expected position
Figure FDA00027485267000000213
Making a correction of>0,k>0。
7. A manipulator control method according to claim 6, wherein the sliding mode controller has a sliding mode control ratio of:
Figure FDA0002748526700000031
8. a manipulator control device is characterized by comprising:
the adaptive controller is used for receiving the current gripping force of an end effector of the manipulator and the current position of the end effector, estimating the expected position of the end effector according to the current gripping force and the current position to obtain the expected position, and transmitting the expected position to the impedance controller;
an impedance controller to receive the current grip force, the current position, and the desired position, and to base the current grip force, the current position, and the desired position on a formula
Figure FDA0002748526700000032
Converting the difference value into a first-order impedance admittance model simplified from a dynamic model of the end effector when the end effector collides with the object after obtaining the difference value between the current grasping force and the expected forceAnd correcting the expected position according to the displacement deviation to obtain a corrected position, and transmitting the corrected position to a sliding mode controller, wherein m isd、bdAnd kdRespectively an inertia coefficient, a damping coefficient and a rigidity coefficient of the impedance controller,
Figure FDA0002748526700000033
and xrRespectively a preset acceleration, a preset velocity and the desired position,
Figure FDA0002748526700000034
and x is the acceleration of the end effector, the velocity of the end effector, and the current position, F, respectivelyrThe current grip force and the desired force, respectively;
and the sliding mode controller is used for adjusting and controlling the output voltage of a motor of the end effector according to the current position and the displacement difference between the current position and the corrected position so as to adjust the current grabbing force of the end effector.
9. The robot control device according to claim 8, further comprising:
and the fuzzy controller is used for adjusting the damping coefficient according to the difference value between the current grabbing force and the preset grabbing force.
10. A manipulator, comprising: an end effector, a motor, and a robot control device according to claims 8-9;
the input end of the end effector is connected with the output end of the motor, the input end of the motor is connected with the manipulator control device, and the output end of the end effector is connected with the manipulator control device.
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