基于自抗扰控制器的人形机器人髋关节解耦控制

Xiaofan Li, Xiang Luo, Kunhong Dou
{"title":"基于自抗扰控制器的人形机器人髋关节解耦控制","authors":"Xiaofan Li, Xiang Luo, Kunhong Dou","doi":"10.1109/ROBIO55434.2022.10011879","DOIUrl":null,"url":null,"abstract":"To improve the control accuracy of robot joints under the influence of coupling, this paper uses a decoupling control method based on the coupling principle analysis to solve the kinematic and dynamic coupling caused by a three-axis concentric hip joint structure, taking the right leg of a 23 degree-of-freedom bipedal humanoid robot as the research object. Simscape is chosen to simulate the physical model of the right leg. And the Active Disturbance Rejection Decoupled Controller with a nonlinear Extended State Observer is designed, in which the derived gravity compensation is added to reduce the control difficulty and improve the observation accuracy. The initial value peaking is avoided by clipping the observer output. The simulation results show that, compared with the PID control with gravity feedback and coupling compensation, ADRDC has better dynamic and steady-state performance, higher position tracking accuracy and stronger anti-interference ability.","PeriodicalId":151112,"journal":{"name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2022-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Decoupling Control for Hip Joint of Humanoid Robot Based on ADRC\",\"authors\":\"Xiaofan Li, Xiang Luo, Kunhong Dou\",\"doi\":\"10.1109/ROBIO55434.2022.10011879\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"To improve the control accuracy of robot joints under the influence of coupling, this paper uses a decoupling control method based on the coupling principle analysis to solve the kinematic and dynamic coupling caused by a three-axis concentric hip joint structure, taking the right leg of a 23 degree-of-freedom bipedal humanoid robot as the research object. Simscape is chosen to simulate the physical model of the right leg. And the Active Disturbance Rejection Decoupled Controller with a nonlinear Extended State Observer is designed, in which the derived gravity compensation is added to reduce the control difficulty and improve the observation accuracy. The initial value peaking is avoided by clipping the observer output. The simulation results show that, compared with the PID control with gravity feedback and coupling compensation, ADRDC has better dynamic and steady-state performance, higher position tracking accuracy and stronger anti-interference ability.\",\"PeriodicalId\":151112,\"journal\":{\"name\":\"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)\",\"volume\":\"55 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2022-12-05\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBIO55434.2022.10011879\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBIO55434.2022.10011879","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0

摘要

为了提高耦合影响下机器人关节的控制精度,本文以23自由度双足仿人机器人右腿为研究对象,采用基于耦合原理分析的解耦控制方法解决三轴同心髋关节结构引起的运动学和动力学耦合问题。选择Simscape来模拟右腿的物理模型。设计了带有非线性扩展状态观测器的自抗扰解耦控制器,在该控制器中加入了导出的重力补偿,降低了控制难度,提高了观测精度。通过裁剪观测器输出来避免初始值峰值。仿真结果表明,与具有重力反馈和耦合补偿的PID控制相比,ADRDC具有更好的动态和稳态性能,更高的位置跟踪精度和更强的抗干扰能力。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Decoupling Control for Hip Joint of Humanoid Robot Based on ADRC
To improve the control accuracy of robot joints under the influence of coupling, this paper uses a decoupling control method based on the coupling principle analysis to solve the kinematic and dynamic coupling caused by a three-axis concentric hip joint structure, taking the right leg of a 23 degree-of-freedom bipedal humanoid robot as the research object. Simscape is chosen to simulate the physical model of the right leg. And the Active Disturbance Rejection Decoupled Controller with a nonlinear Extended State Observer is designed, in which the derived gravity compensation is added to reduce the control difficulty and improve the observation accuracy. The initial value peaking is avoided by clipping the observer output. The simulation results show that, compared with the PID control with gravity feedback and coupling compensation, ADRDC has better dynamic and steady-state performance, higher position tracking accuracy and stronger anti-interference ability.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信