An iterative learning method for realizing accurate dynamic feedforward control of an industrial hybrid robot  

作　　者：WU Jun ZHANG BinBin WANG LiPing YU Guang 

机构地区：[1]State Key Laboratory of Tribology and Institute of Manufacturing Engineering,Department of Mechanical Engineering,Tsinghua University,Beijing 100084,China [2]Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipment and Control,Beijing 100084,China

出　　处：《Science China(Technological Sciences)》2021年第6期1177-1188,共12页中国科学（技术科学英文版）

基　　金：the National Key Research and Development Program of China(Grant No.2017YFE0111300);EU H2020-MSCA-RISEECSASDPE(Grant No.734272);the National Natural Science Foundation of China(Grant No.51975321)。

摘　　要：Feedforward control based on an accurate dynamic model is an effective approach to reduce the dynamic effect of the robot and improve its performance. However, due to the complicated work environment with considerable uncertainty, it is difficult to obtain a high-precision dynamic model of the robot, which severely deteriorates the achievable control performance. This paper proposes an iterative learning method to accurately design the industrial feedforward controller and compensate for the external uncertain dynamic load of the robot. Based on a standard dynamic model, a complete linear feedforward controller is presented.An iterative design strategy is given to iteratively update the feedforward controller by combining the Moore-Penrose Inverse and the PID learning rate. Experiments are carried out on a 5-DOF industrial hybrid robot to validate the effectiveness of the proposed iterative learning method. The experiment results illustrate that the industrial feedforward controller can rapidly converge to the optimal controller and significantly improve the servo performance by using the proposed method. This paper provides an effective method for applying iterative learning control to an unopened industrial control system. It is very useful for the practical control of hybrid robots in industrial field.

关 键 词：hybrid robot feedforward control iterative learning control parameters design industrial control system 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP18[自动化与计算机技术—控制科学与工程]