自动化与信息工程2025，Vol.46Issue(1)：41-46,6.DOI:10.3969/j.issn.1674-2605.2025.01.006
基于关节外力估计的操作臂自适应力跟踪方法
Adaptive Force Tracking Method of Manipulator Arm Based on Joint External Force Estimation
摘要
Abstract
Traditional manipulator arm force tracking control is mainly achieved through end six axis force sensors and force position hybrid control methods,which are difficult to adapt to uncertain environments and prone to problems such as force tracking errors and overshoot.Therefore,a method for tracking the adaptive force of a manipulator arm based on joint external force estimation is proposed.Firstly,design a disturbance Kalman force observer(DKF)that combines generalized momentum and Kalman filter for estimating contact force;Then,an adaptive variable admittance force tracking method is proposed,which automatically adjusts the admittance parameters based on the force error,reduces the force tracking error,and improves the stability of the system.Through simulation experiments,it has been verified that the DKF proposed in this paper reduces the estimation error by about 20%compared to the generalized momentum observer;The adaptive variable admittance force tracking method reduces overshoot force,reduces force tracking error by about 27%,and has strong adaptability to uncertain environments.关键词
操作臂/外力估计/力跟踪控制/扰动卡尔曼外力观测器/导纳控制Key words
manipulator arm/external force estimation/force tracking control/disturbance Kalman external force observer/admittance control分类
计算机与自动化引用本文复制引用
叶鹏程,毛世鑫,张一超..基于关节外力估计的操作臂自适应力跟踪方法[J].自动化与信息工程,2025,46(1):41-46,6.基金项目
国家自然科学基金面上项目(52275011) （52275011）
广东省科技创新战略专项资金(pdjh2022a0148) （pdjh2022a0148）
佛山市科技创新团队专项(FS0AA-KJ919-4402-0098). （FS0AA-KJ919-4402-0098）
