公开(公告)号：US20240189995A1

公开(公告)日：2024-06-13

申请号：US18398031

申请日：2023-12-27

Applicant: SOUTHEAST UNIVERSITY

Inventor： Huijun LI ,  Ye LU ,  Aiguo SONG ,  Ye LI ,  Baoguo XU

IPC: B25J9/16 ,  B25J9/10

CPC classification number: B25J9/1633 ,  B25J9/104 ,  B25J9/1653

Abstract: A cable force control method includes: establishing a friction model, and calibrating parameters; and calculating the parameters in real time, and controlling a force: identifying the parameters according to the friction model to obtain parameters of an auxiliary cable Bowden system and a power Bowden system: a friction coefficient μa of the auxiliary cable Bowden system, and a friction coefficient μp of the power cable Bowden system; calculating the auxiliary cable Bowden system θa in real time according to the model and a force value of a sensor, and using same as a cable bending angle of the power cable Bowden system θ; and obtaining an inverse control formula Fin=Fout·e−uλθ according to the friction model, and bringing the power cable Bowden system θp into the inverse control formula to serve as a feedforward controller, so as to achieve an effect of real-time force control.