CN114888813B - Mechanical arm position force hybrid control method and device - Google Patents

Mechanical arm position force hybrid control method and device Download PDF

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Publication number
CN114888813B
CN114888813B CN202210708886.XA CN202210708886A CN114888813B CN 114888813 B CN114888813 B CN 114888813B CN 202210708886 A CN202210708886 A CN 202210708886A CN 114888813 B CN114888813 B CN 114888813B
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sliding mode
control
mechanical arm
force
improved
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CN114888813A (en
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吴文强
吴伟聪
陈朝政
张春良
朱厚耀
侯浩佳
翁润庭
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Guangzhou University
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Guangzhou University
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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
    • B25J9/1628—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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
    • 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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Feedback Control In General (AREA)

Abstract

The invention discloses a mechanical arm position force hybrid control method, which comprises the following steps of S1, acquiring the expected position of a mechanical arm; s2, calculating the joint position of the expected mechanical arm according to the expected position of the mechanical arm, and obtaining an expected control moment according to a dynamics model; s3, acquiring actual position and force data of the mechanical arm fed back by the mechanical arm end sensor in real time; s4, in the position space, joint moment control is carried out according to the improved hybrid sliding mode control method, and in the force space, joint moment control is carried out according to PD control; s5, judging whether the actual position and force data of the mechanical arm are within an allowable error range, if so, ending the control after reaching the target position, and if not, re-executing S2 to S5. Aiming at the buffeting problem of the tail end of the double-stage linkage heavy-load telescopic boom, the invention designs an improved mixed power function, and the flexible characteristic of the mechanical arm system is improved by utilizing a sliding mode controller with more stable and smooth characteristics.

Description

Mechanical arm position force hybrid control method and device
Technical Field
The invention relates to the field of mechanical arm position force hybrid control, in particular to mechanical arm position force hybrid control.
Background
In the fields of modern logistics stacking, aerospace, industrial processing and the like, the mechanical arm bears the tasks of cargo loading, equipment operation, product processing and the like, and a special mechanical arm is derived due to special environments. The invention relates to a heavy-load large-stroke rigid telescopic arm based on a double-open chain structure, which can be applied to enterprises with huge demand for carrying goods and help the enterprises to finish stacking work of huge goods. In the mechanical arm motion control, when the mechanical arm end effector carries the loaded goods, the mechanical arm is the structural design of the rigid long telescopic arm and the heavy load capacity, so that the work precision of the effector is easily reduced, the telescopic arm end oscillation phenomenon of the two-stage linkage is easily caused, and in the operation engineering, the problem is easy to cause the reduction of efficiency and even damage to the environment.
Disclosure of Invention
The invention aims to provide a mechanical arm position force mixing control method, and aims to solve the problem of mechanical arm position force mixing control method.
The invention provides a mechanical arm position force hybrid control method, which comprises the following steps:
s1, acquiring an expected position of a mechanical arm;
s2, calculating the joint position of the expected mechanical arm according to the expected position of the mechanical arm, and obtaining an expected control moment according to a dynamics model;
s3, acquiring actual position and force data of the mechanical arm fed back by the mechanical arm end sensor in real time;
s4, performing position space control on joint moment according to an improved hybrid sliding mode control method, and performing force space control on joint moment according to PD control;
s5, judging whether the actual position and force data of the mechanical arm are within an allowable error range, if so, ending the control after reaching the target position, and if not, re-executing S2 to S5.
The embodiment of the invention also provides a mechanical arm position force mixing control device, which comprises: a memory, a processor and a computer program stored on the memory and executable on the processor, which when executed by the processor, performs the steps of the method described above.
The embodiment of the invention also provides a computer readable storage medium, wherein the computer readable storage medium stores an information transmission implementation program, and the program realizes the steps of the method when being executed by a processor.
By adopting the embodiment of the invention, an improved mixed power function is designed aiming at the buffeting problem of the tail end of the double-stage linkage heavy-load telescopic boom, and the smooth characteristic of the mechanical arm system is improved by utilizing the sliding mode controller with more stable and smooth characteristic.
The foregoing description is only an overview of the present invention, and is intended to provide a more clear understanding of the technical means of the present invention, as it is embodied in accordance with the present invention, and to make the above and other objects, features and advantages of the present invention more apparent, as it is embodied in the following detailed description of the invention.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for controlling the position and force of a mechanical arm in an embodiment of the invention;
FIG. 2 is a flowchart of a method for controlling the position and force of a mechanical arm according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a hybrid control block diagram of a mechanical arm position force hybrid control method according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a mechanical arm position force mixing control device according to an embodiment of the invention.
Detailed Description
The technical solutions of the present invention will be clearly and completely described in connection with the embodiments, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Method embodiment
According to an embodiment of the present invention, a flowchart of a method for controlling mechanical arm position force mixing is provided, and fig. 1 is a flowchart of a method for controlling mechanical arm position force mixing according to an embodiment of the present invention, as shown in fig. 1, specifically including:
the mechanical arm is a nonlinear complex system with strong coupling characteristics, the special large-stroke telescopic arm is applied to heavy loading, and under the condition of carrying huge amounts of cargoes, the problems of precision reduction and oscillation easily occur when the end effector carries out long-distance fixed-point carrying gradually due to different weight of cargoes, continuous objects and cargoes under more conditions.
Aiming at the problem of terminal buffeting caused by the condition that a two-stage linkage tooth-driven telescopic arm carries a heavy object, a double tangent function, a step function and a power function are combined to construct a novel power function, an improved hybrid sliding mode control strategy is provided, the approach rate of a power approach law entering a sliding mode surface by a control system is improved, the continuous and smoother characteristic of a switching function of a sliding mode switch can be further ensured, the weak buffeting problem still possessed by the conventional sliding mode switching function is restrained, the track tracking control requirement is further met, the high-frequency oscillation of an end effector is weakened, and the operation requirement of a mechanical arm system is met.
1. Establishing a dynamic model of friction force of a large-stroke heavy-load rigid telescopic arm:
in order to achieve the above objective, a dynamic model of the rigid mechanical arm system needs to be established first, and under the condition of considering friction force, a joint space dynamic model is obtained:
wherein ,respectively, joint displacement variable, speed and acceleration in the joint space of the mechanical arm, D (q) epsilon R 6×6 For positive definite inertial matrix of mechanical arm, +.>G (q) ∈R, which is the centrifugal and Golgi force matrices of the mechanical arm 6 Is a gravity matrix, f v F is the viscous friction coefficient s For the coefficient of static friction, τ is the input control moment of the mechanical arm in the joint space, sign is the sign function.
Due to the mechanical arm working in Cartesian spaceUnder the room, according to the Jacobian matrix J in robotics T (q) performing a spatial transformation of the kinetic model:
τ＝J T (q)F x
wherein ,JT (q) Jacobian transpose matrix of the robotic arm system, F x Is the contact force of the end effector under the working space.
A description of the end effector contact force in the workspace is given:
wherein ：
D x (q)＝J +T (q)D(q)J + (q)、G x (q)＝J +T (q)G(q)、F vx ＝J +T (q)f v J + (q)、/> then the velocity and acceleration in the joint workspace, J + (q)＝[J T (q)J(q)] -1 J T (q) is the 5-degree-of-freedom large-stroke heavy-duty rigid telescopic arm pseudo-inverse Jacobian matrix, F x Is the contact force of the end effector under the working space.
Establishing a kinetic model containing friction can provide a calculated driving force for a subsequent control system.
2. PD control to establish a force space
The mechanical arm control strategy adopts force/position hybrid control, and adopts a special PD control on the force space:
wherein Fd To feed forward the desired force dynamically, F e For feeding back the actual force to the sensor, K fp For the scaling factor of the force space, K fd Is a differential adjustment coefficient of the force space,for the end effector desired speed, x d Feedback of tip speed for sensor, F f Is a control law of force space.
The PD control of the force direction controller is different from the traditional error and differential coefficient adjustment, under the dynamic feedforward control, the proportion adjustment of the force error is added first, and then the differential adjustment of the speed of the end tool is carried out, so that the differential adjustment of the abrupt change speed of the movement of the end tool can be carried out on the control of the force space.
3. Establishing sliding mode control of improved mixed power approach law
Firstly, establishing a sliding mode control variable, and defining a tracking error:
e(r)＝x d (t)-x e (t)
wherein Λ is a positive definite matrix, x d (t) is the desired position of the end, x e (t) is the actual position of the tip,representing the expected and actual errors of end effector position, velocity and acceleration, respectively, in the working space, +.>Representing the desired position, velocity and acceleration, respectively, of the end effector +.>A speed is desired for the end effector.
Defining a sliding die surface:
where Λ is a positive definite matrix.
In order to reduce buffeting of control quantity, an improved mixed power approach law sliding mode control is designed; for step function sign (x) and hyperbolic tangent functionIs the function steepness characteristic of>When it corresponds to the power functionRatio |x| α The sign (x) function enables the switching function to have smoother characteristics while the steepness can be adjusted.
The method comprises the steps of designing a modified mixed power switch switching function as a switching function to replace a step function or an ordinary power function of a traditional sliding mode variable structure, and defining an improved nonlinear function:
exponent alpha of power of middle function 1 ＞0，α 2 ＞0，nfal(s，α 1 ，α 2 μ) the interval length of positive and negative symmetry line segments near the origin is 0 < μ < 1, the steepness of the power functions is the sliding mode function, and when the sliding mode function is smaller than the interval length, i.e., |s| < mu, the sliding mode independent variable gain +.>Smaller, and conversely, larger gain.
The improved mixed power sliding mode approach law designed by the invention is as follows:
epsilon is the convergence rate of the approach law, and when the sliding mode system with the value of |s| < mu is close to the balance point, namely s & gt0, the sliding mode approach law is formed byDominant, now nfal (s, α 1 ，α 2 μ) is gradually increased, the control system can reach the sliding mode surface rapidly due to the continuous smooth power function term near the zero point, and compared with a change-over switch of the step function, the step function shows more mutation and discontinuity at the turning point, and when |s| > μ, the control system uses |>The function is switched, in particular +.>Department ratio->Is smoother and smoother than sign (x), thus converging at a rate epsilon and by a high specific gravityThe combination of the two can ensure that the high-frequency vibration problem is reduced, and the two can play the roles of stable input and signal amplitude reduction, and still ensure that the larger speed approaches to the sliding mode.
Establishing an improved mixed power sliding mode controller:
taking the following slip-form control law according to a dynamic model and a slip-form controller after the friction force and the uncertainty disturbance are considered:
wherein ：
F vx is viscous friction force F sx Is static friction force and delta f As uncertainty interference term f dis Is a mixed term of (a). The subscript plus x is expressed in cartesian space.
An improved hybrid sliding mode control with smoothing properties is accomplished in space of locations.
4. Force/position hybrid controller for building large-stroke heavy-load rigid telescopic arm system:
in order to decompose the control of the work task in the Cartesian space by the mechanical arm, the joint space is utilized for carrying out mixed control which can be divided into a position space and a force space. For the relationship of the tip force in Cartesian space to the individual joint moments in joint space, the following transformations can be made:
τ＝J +T (q)F
the position space and the force space are thus respectively force/bit-mixed controlled by a selection matrix S:
τ e ＝Sτ p +(I-S)τ f
wherein I is an identity matrix, τ p Is the control vector of the position space, τ f Is the control vector of the force space, τ e The output torque of the control system, namely the input torque of each joint of the control mechanical arm.
The power function in the improved sliding mode approach law provided by the inventionOn both sides near the originInterval length->The internal energy switches a smoother continuous power function, and the modified power function is compared with |x| α The sign (x) function is more continuous at 0.1 of origin, since the steepness value of hyperbolic tangent function in the power function is chosen to be always longer than the interval length of positive and negative symmetry of origin of the power function, nfal (s, alpha in the improved mixed power approach law 1 ，α 2 μ) plays a dominant role, so that the high frequency jitter phenomenon of the sliding mode system at the balance point can be avoided.
In the mechanical arm system, mainly position space control is adopted, a two-stage linkage joint and a high-low amplitude joint adopt an improved mixed power sliding mode control method, and a micro-motion joint in a working space adopts special PD force adjustment for reducing the workload of a control system, wherein differential adjustment is used as a micro-motion joint speed mutation to perform speed punishment, so that the buffeting problem of the whole mechanical arm system is assisted in force space.
In the embodiment, a force/position mixed control strategy mainly comprising improved mixed power sliding mode control is adopted, so that the tracking effect is better than that of a traditional mechanical arm control method; after the upper computer starts the mechanical arm system to set the controller parameters and feed back sensor data, the mechanical arm end effector is loaded with a weight of 400kg to be tested by adopting the force/position hybrid control technical scheme, and compared with a sliding mode controller with a step function and a common power function, the following motion trail and control time diagram of the end effector can be obtained:
the controller parameters for the large travel heavy duty rigid telescopic arm are as follows:
TABLE 1
In the XYZ direction, the power sliding mode approach law obviously reduces most buffeting than the sliding mode approach law taking a step function as a change-over switch function, the buffeting amplitude is relatively reduced, and the power function is compared with the step function as a sliding mode change-over function, so that most buffeting is reduced, the control system is indicated to approach to a balance point faster under the sliding mode approach law, and the characteristic that the power function approaches to a sliding mode state rapidly is reflected. For the common power sliding mode approach law, the improved mixed power approach law provided by the invention combines the characteristics of a power function and a hyperbolic tangent function to improve, further improves the continuous and smooth characteristic of a switching function, can improve the tracking precision by 30% in the X direction, relatively reduces the oscillation frequency of the end section, and correspondingly reduces the amplitude of low-frequency buffeting; the tracking accuracy can be improved by 30% -40% in the Y and Z directions, and the amplitude of micro-buffeting can be reduced in the Y direction. Therefore, the improved hybrid power sliding mode approach law provided by the invention can improve the tracking capability of a large-stroke heavy-load telescopic arm system, weaken most of high-frequency oscillation and reduce the amplitude of most of low-frequency vibration, ensure the stability of a mechanical arm control system and can meet the performance requirement of large-range heavy-load carrying of the special mechanical arm.
Control system of large-stroke heavy-duty rigid telescopic boom system:
parameter setting module: the method is used for setting the joint parameters of each connecting rod in the large-stroke heavy-load rigid telescopic arm by an upper computer:
the joint type of the special mechanical arm is as follows: PRRPPR (P is the mobile joint and R is the revolute joint), whose D-H model parameters are shown below:
TABLE 2 parameter table for D-H model of large-stroke heavy-load rigid telescopic arm
Sensor reading module: the system is used for acquiring the motion dynamics of the mechanical arm in real time by the upper computer system, can acquire the position data of the end effector of the mechanical arm in Cartesian space in real time, and the acquired data information can be used for the control module.
The dynamics establishment module: and the control system is used for the upper computer and calculates the input driving moment required by the current joint according to the mechanical arm model parameters.
Force/position hybrid control module: the control module is used for controlling the mechanical arm system by the upper computer, adjusting according to the error between the current position of the mechanical arm end effector and the expected position, and inputting torque through the mechanical arm joint of the control module. Fig. 2 is a specific flowchart of a mechanical arm position force hybrid control method according to an embodiment of the present invention, as shown in fig. 2:
s1, acquiring an expected position of a mechanical arm;
s2, calculating the joint position of the expected mechanical arm according to the expected position of the mechanical arm, and obtaining an expected control moment according to a dynamics model;
s3, acquiring actual position and force data of the mechanical arm fed back by the mechanical arm end sensor in real time;
s4, in the position space, controlling the joint moment according to an improved hybrid sliding mode control method; in the force space, joint moment control is performed according to PD control;
s5, judging whether the actual position and force data of the mechanical arm are within an allowable error range, if so, ending the control after reaching the target position, and if not, re-executing S2 to S5.
In the position space, performing joint torque control according to the improved hybrid sliding mode control method includes:
calculating tracking errors and defining sliding mode control variables;
defining a sliding mode surface and designing an improved hybrid sliding mode control strategy;
the selection matrix selects the position to control the joint moment.
In the force space, the joint moment control according to the PD control specifically includes:
calculating an expected force error, and performing comparative adjustment;
calculating a speed error and performing differential adjustment;
the selection matrix selection force controls the joint moment.
The design improved hybrid sliding mode control strategy specifically comprises the following steps:
defining an improved nonlinear function;
designing an improved mixed power sliding mode approach law;
establishing an improved mixed power sliding mode controller;
after friction force and uncertainty disturbance are considered, a sliding mode control law is obtained according to a dynamic model and a sliding mode controller;
an improved hybrid sliding mode control with smoothing properties is accomplished in space of locations.
Defining the improved nonlinear function specifically comprises:
the following modified nonlinear function is defined:
exponent alpha of power of middle function 1 ＞0，α 2 ＞0，nfal(s，α 1 ，α 2 μ) the interval length of positive and negative symmetry line segments near the origin is 0 < μ < 1, the steepness of the power functions is the sliding mode function, and when the sliding mode function is smaller than the interval length, i.e., |s| < mu, the sliding mode independent variable gain +.>Smaller, and conversely, larger gain.
The design improved mixed power sliding mode approach law specifically comprises the following steps:
the design improved mixed power sliding mode approach law formula is as follows:
epsilon is the convergence rate of the approach law, and when the sliding mode system with the value of |s| < mu is close to the balance point, namely s & gt0, the sliding mode approach law is formed byDominant, now nfal (s, α 1 ，α 2 μ) gradually increases, and the high steepness of the power function can ensure that the control system reaches the sliding mode surface rapidly because the power function term is continuously smooth near the zero point.
The sliding mode controller for establishing the improved mixed power degree specifically comprises: the sliding mode controller for establishing the improved mixed power adopts the following formula:
after the friction force and the uncertainty disturbance are considered, according to the dynamics model and the sliding mode controller, the sliding mode control law is obtained specifically comprising: the following formula is adopted to obtain the sliding mode control law:
wherein Is a friction and uncertainty interference term.
Fig. 3 is a schematic diagram of a hybrid control block of a mechanical arm position force hybrid control method according to an embodiment of the invention, as shown in fig. 3:
because the large-stroke heavy-duty rigid telescopic arm of the invention is more focused on position tracking, the technical proposal is more placed on position control. The improved mixed power sliding mode control law is adopted on the dominant position space, and the high-frequency micro-vibration of the end tool caused by the joint with a large moving range is reduced by combining a power function and a hyperbolic tangent function to achieve the double-stage linkage in the long telescopic arm; and the special PD control is adopted for the micro-motion joint in the force space, and after the dynamic feedforward control and the force feedback are realized, the abrupt buffeting of the joint is restrained by using the speed penalty. By selecting the matrix, a hybrid control of the position space and the force space can be achieved.
Device embodiment 1
The embodiment of the invention provides a mechanical arm position force mixing control device, as shown in fig. 4, comprising: memory 40, processor 42, and a computer program stored on memory 40 and executable on processor 42, which when executed by the processor, performs the steps of the method embodiments described above.
Device example two
The embodiment of the present invention provides a computer readable storage medium, on which a program for implementing information transmission is stored, which when executed by the processor 42 implements the steps in the above-described method embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; and these modifications or substitutions may be made to the technical solutions of the embodiments of the present invention without departing from the spirit of the corresponding technical solutions.

Claims (3)

1. A mechanical arm position force hybrid control method is characterized by comprising the following steps of,
s1, acquiring an expected position of a mechanical arm;
s2, calculating the joint position of the expected mechanical arm according to the expected position of the mechanical arm, and obtaining an expected control moment according to a dynamics model;
s3, acquiring actual position and force data of the mechanical arm fed back by the mechanical arm end sensor in real time;
s4, in the position space, joint moment control is carried out according to the improved hybrid sliding mode control method, and in the force space, joint moment control is carried out according to PD control;
in the position space, the joint moment control according to the improved hybrid sliding mode control method specifically comprises the following steps:
calculating tracking errors and defining sliding mode control variables;
defining a sliding mode surface and designing an improved hybrid sliding mode control strategy;
the design improved hybrid sliding mode control strategy specifically comprises the following steps:
defining an improved nonlinear function;
the definition improved nonlinear function specifically comprises:
the following modified nonlinear function is defined:
exponent alpha of power of middle function 1 >0,α 2 >0，nfal(s,α 1 ,α 2 μ) function has a section length of 0 for positive and negative symmetry line segments near the origin<μ<1, power function steepnesss is the sliding mode function, and when the sliding mode function is smaller than the interval length, i.e., |s|<Mu, sliding mode argument gain +.>Smaller, otherwise the gain is larger;
designing an improved mixed power sliding mode approach law;
the design improved hybrid power sliding mode approach law specifically comprises:
the design improved mixed power sliding mode approach law formula is as follows:
wherein β1 ,β 2 Is positive odd number, which is the parameter of the sliding mode to the power of the power; k (k) 1 ,k 2 Is a sliding mode auxiliary index parameter; epsilon is the convergence rate of the approach law, when |s| |<When the mu sliding mode system is close to the balance point, namely s & gt0, the sliding mode approachesLaw quiltDominant, now nfal (s, α 1 ,α 2 μ) gradually increases, and the high steepness of the power function can ensure that the control system reaches the sliding mode surface rapidly because the vicinity of the zero point is a continuous smooth power function term;
establishing an improved mixed power sliding mode controller;
the sliding mode controller for establishing improved mixed power comprises the following specific components: the sliding mode controller for establishing the improved mixed power adopts the following formula:
wherein ,representing the desired position, velocity and acceleration of the end effector,wherein Λ is a positive definite matrix, D x (q)，/> and Gx (q) spatially transforming from the kinetic model, < >>Representing the actual speed of the end effector, e (t) being the tracking error;
after friction force and uncertainty disturbance are considered, a sliding mode control law is obtained according to a dynamic model and a sliding mode controller;
after friction force and uncertainty disturbance are considered, according to a dynamics model and a sliding mode controller, the method for obtaining the sliding mode control law specifically comprises the following steps: the following formula is adopted to obtain the sliding mode control law:
wherein ：
F vx is viscous friction force F sx Is static friction force and delta f As uncertainty interference term f dis Is a mixed term of (2);
the improved hybrid sliding mode control with the smooth characteristic is completed on the position space;
selecting a matrix selection position to control joint moment;
the joint moment control according to the PD control specifically comprises:
calculating an expected force error, and performing comparative adjustment;
calculating a speed error and performing differential adjustment;
selecting matrix selection force to control joint moment;
s5, judging whether the actual position and force data of the mechanical arm are within an allowable error range, if so, ending the control after reaching the target position, and if not, re-executing S2 to S5.
2. A mechanical arm position force hybrid control device, characterized by comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, which when executed by the processor, performs the steps of the arm position force hybrid control method according to claim 1.
3. A computer-readable storage medium, wherein a program for realizing information transfer is stored on the computer-readable storage medium, and the program when executed by a processor realizes the steps of the mechanical arm position force mixing control method according to claim 1.
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