自动化与信息工程2025，Vol.46Issue(5)：24-29,6.DOI:10.12475/aie.20250503
未知曲面法向随形的机械臂自适应柔顺控制研究
Research on Adaptive Compliance Control of Robotic Manipulators for Surface Normal Conformity on Unknown Surfaces
李堉明 1刘成沛 2徐智浩3
作者信息
- 1. 五邑大学轨道交通学院,广东 江门 529020||广东省科学院智能制造研究所/广东省现代控制技术重点实验室,广东 广州 510070
- 2. 五邑大学轨道交通学院,广东 江门 529020
- 3. 广东省科学院智能制造研究所/广东省现代控制技术重点实验室,广东 广州 510070
- 折叠
摘要
Abstract
Aiming to address the challenges of force control and adaptive posture shaping for robotic manipulators operating on unknown surfaces,this paper proposes a closed-loop position-force compliant control method based on improved impedance control.The end-effector's position control space and force control space are decoupled through orthogonal decomposition.A closed-loop position-force compliant controller is designed to achieve precise integrated control of position,orientation,and force.Tracking experiments involving circular and cardioid trajectories verify that the proposed method can achieve stable position-force control on unknown surfaces and enhances the robustness of the robotic manipulator system.关键词
机械臂/自适应控制/柔顺控制/曲面法向跟踪/未知曲面Key words
robotic manipulator/adaptive control/compliant control/surface normal tracking/unknown surface分类
信息技术与安全科学引用本文复制引用
李堉明,刘成沛,徐智浩..未知曲面法向随形的机械臂自适应柔顺控制研究[J].自动化与信息工程,2025,46(5):24-29,6.
