东南大学学报（英文版）2008，Vol.24Issue(4)：492-497,6.
摩擦补偿下基于关节力矩的笛卡尔阻抗控制
Joint torque-based Cartesian impedance control with friction compensations
摘要
Abstract
In order to investigate the joint torque-based Cartesian impedance control strategies and the influence of compensations for friction, an experimental study on the identification of friction parameters, friction compensation and the Cartesian impedance control are developed for the harmonic drive robot, by using the sensors available in the joint itself. Different from the conventional Cartesian impedance control schemes which are mostly based on the robot end force/torque information, five joint torque-based Cartesian impedance control schemes are considered, including the force-based schemes in Cartesian/joint space, the position-based ,schemes in Cartesian/joint space and the stiffness control. Four of them are verified by corresponding experiments with/without friction compensations. By comparison, it is found that the force-based impedance control strategy is more suitable than the position-based one for the robot based on joint torque feedback and the friction has even a positive effect on Cartesian impedance control stability.关键词
笛卡尔阻抗控制/谐波驱动/摩擦辨识/摩擦补偿/关节力矩Key words
Cartesian impedance control/harmonic drive/friction identification/friction compensation/joint torque分类
信息技术与安全科学引用本文复制引用
刘业超,金明河,刘宏..摩擦补偿下基于关节力矩的笛卡尔阻抗控制[J].东南大学学报（英文版）,2008,24(4):492-497,6.基金项目
The National Natural Science Foundation of China( No. 60675045), the National High Technology Research and Development Pro-gram of China (863 Program) (No. 2006AA04Z255). （ No. 60675045）
