液压与气动2024，Vol.48Issue(4)：15-21,7.DOI:10.11832/j.issn.1000-4858.2024.04.003
基于自适应阻抗控制的大负载液压机械臂柔顺控制
Flexibility Control of Large Load Hydraulic Manipulator Based on Adaptive Impedance Control
摘要
Abstract
A self-adaptive impedance control algorithm is proposed for the compliance control of large load hydraulic robotic arms.The algorithm estimates the environmental stiffness and position in real-time based on the contact force information measured by the six dimensional force sensor and the position information of the robotic arm bottom.Based on the estimated values of environmental stiffness and environmental position,the reference trajectory of the robotic arm is modified to achieve adaptive impedance control and achieve better force control effect.Conducted hydraulic robotic arm pipeline handling experiments and verified the performance of adaptive control algorithms.The results show that compared to traditional impedance control algorithms,the use of adaptive impedance control algorithms for robotic arms can achieve better force control performance and flexibility.关键词
液压机械臂/柔性控制/阻抗控制/自适应控制Key words
hydraulic robotic arms/flexibility control/impedance control/adaptive control分类
机械制造引用本文复制引用
陈少南,赵桂生,刘蕾,陈国栋..基于自适应阻抗控制的大负载液压机械臂柔顺控制[J].液压与气动,2024,48(4):15-21,7.基金项目
国家重点研发计划(2022YFB4701105) （2022YFB4701105）
