A novel multi-pulse friction compensation strategy for hybrid robots

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL Mechanism and Machine Theory Pub Date : 2024-07-11 DOI:10.1016/j.mechmachtheory.2024.105726

Jiale Han, Hongfei Cheng, Xianlei Shan, Haitao Liu, Juliang Xiao, Tian Huang

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Abstract

Friction nonlinearity near zero velocity causes substantial tracking errors during joint motion reversals. For hybrid robots, this phenomenon is further influenced by joint acceleration and robot configuration, unique characteristics of hybrid robots that can degrade the performance of traditional friction compensation methods. This paper presents a novel multi-pulse friction compensation strategy that can adapt to joint acceleration and configuration variations in hybrid robots. Bayesian Optimization is employed to automatically tune all compensation parameters. By analyzing experimental data, a potential relationship between compensation parameters and joint acceleration is explored, leading to a concise and effective method for estimating optimal parameters based on joint acceleration. In addition, the basic idea of cluster analysis is combined with a limited number of experiments to achieve online parameter-to-configuration matching. Experimental results on TriMule-200 hybrid robot demonstrate the outstanding performance of this strategy in suppressing tracking errors during velocity reversals, as well as its robustness to joint acceleration and robot configuration variations.

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混合动力机器人的新型多脉冲摩擦补偿策略

零速度附近的摩擦非线性会在关节运动反转时造成很大的跟踪误差。对于混合机器人来说，这种现象会受到关节加速度和机器人配置的进一步影响，而混合机器人的独特特性会降低传统摩擦补偿方法的性能。本文提出了一种新颖的多脉冲摩擦补偿策略，可适应混合机器人的关节加速度和配置变化。本文采用贝叶斯优化法自动调整所有补偿参数。通过分析实验数据，探索了补偿参数与关节加速度之间的潜在关系，从而提出了一种基于关节加速度估算最佳参数的简洁有效的方法。此外，聚类分析的基本思想与有限的实验相结合，实现了参数与配置的在线匹配。TriMule-200 混合机器人的实验结果表明，这种策略在抑制速度反转时的跟踪误差方面表现出色，而且对关节加速度和机器人配置变化具有鲁棒性。

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来源期刊

Mechanism and Machine Theory 工程技术-工程：机械

CiteScore

9.90

自引率

23.10%

发文量

450

审稿时长

20 days

期刊介绍： Mechanism and Machine Theory provides a medium of communication between engineers and scientists engaged in research and development within the fields of knowledge embraced by IFToMM, the International Federation for the Promotion of Mechanism and Machine Science, therefore affiliated with IFToMM as its official research journal. The main topics are: Design Theory and Methodology; Haptics and Human-Machine-Interfaces; Robotics, Mechatronics and Micro-Machines; Mechanisms, Mechanical Transmissions and Machines; Kinematics, Dynamics, and Control of Mechanical Systems; Applications to Bioengineering and Molecular Chemistry