METHOD AND DEVICE FOR HYBRID SPEED-POSITION CONTROL WITH APPLICATIONS IN INTELLIGENT CONTROL PLATFORMS

摘要

The invention relates to a method and a device for the hybrid control of speed and position with applications in intelligent platforms for real-time control of robots and mechatronic systems. According to the invention, the method consists in that, for the hybrid speed-position control of the motion trajectory in a tridimensional space, generated by a final effector of a robot or mechatronic system, actuated on m freedom degrees by a number of m actuators of high mechanical hysteresis, intermediate incremental position references are generated by serial approximation sequences associated to the control of the moving speed of the actuator, with generation of incremental speed references for the respective serial approximation sequences, according to a certain algorithm, so that the motion of the final effector actuated by the actuator or by the m actuators on the freedom degrees of the robot or mechatronic system, takes place only on the direction of the actuator, while eliminating the movement oscillations on the trajectory of the final effector. The device, as claimed by the invention comprises: a number of i intelligent control interfaces receiving signals from some inertial, force and visual sensors (S, S, S) mounted on a robot or mechatronic system, and signals concerning the current position (P) and current speed (V) of the robot or mechatronic system, a decision module (MD), a control module and a generator module (MG) which generates position and speed references, a data bus module (MDT) and a communication module (MC), as well as a position controller, a speed controller, a control module for the joints space, a module for conversion of digital signals into analogue signals and a number of m servo motors for the m freedom degrees of the robot or mechatronic system, and the controlled robot or mechatronic system.