Title:
NONLINEAR ADAPTIVE CONTROL METHOD AND SYSTEM FOR MECHANICAL ARM MOTION CONTROL
Document Type and Number:
WIPO Patent Application WO/2023/226070
Kind Code:
A1
Abstract:
A nonlinear adaptive control method and system for mechanical arm motion control. The method comprises the steps of inputting the output of an incremental nonlinear inverse dynamics controller into a servo motor driver for driving a mechanical arm, and the like. A mechanical arm motion load model and an external disturbance model required by controller parameter tuning are not needed, so that the technical problems in the existing mechanical arm motion control technology of difficulty in motion load model identification and controller time-varying parameter tuning are solved.
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Inventors:
CHU QIPING (CN)
ZHANG XIAOCHEN (CN)
ZHANG JIANHAO (CN)
ZHANG XIAOCHEN (CN)
ZHANG JIANHAO (CN)
Application Number:
PCT/CN2022/096576
Publication Date:
November 30, 2023
Filing Date:
June 01, 2022
Export Citation:
Assignee:
TIANJIN SAIXIANG TECH CO LTD (CN)
International Classes:
G05B13/04; B25J9/16
Foreign References:
| CN107505846A | 2017-12-22 | |||
| CN113276114A | 2021-08-20 | |||
| CN112817231A | 2021-05-18 | |||
| CN111775142A | 2020-10-16 | |||
| CN112947293A | 2021-06-11 | |||
| US20140046483A1 | 2014-02-13 | |||
| US20200171666A1 | 2020-06-04 |
Attorney, Agent or Firm:
TIANJIN JUNYAN INTELLECTUAL PROPERTY AGENCY CO., LTD (CN)
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