摘要
针对传统阻抗控制在刚度变化的情况下存在力波动剧烈、力跟踪误差较大的缺点,本文提出了一种基于递推最小二乘法在线辨识环境刚度并进行位移补偿的阻抗控制,提高变刚度环境下阻抗控制的性能。通过构建改进的阻抗控制模型,进而减小刚度突变情况下阻抗控制的稳态误差与力波动。利用Matlab/Simulink软件进行仿真实验,结果表明:环境刚度改变的情况下,改进的阻抗控制器能消除跟踪力的稳态误差并减小刚度突变时的力波动。通过实验平台验证了机械臂在不同刚度表面进行力跟踪时仍具有良好的跟踪力性能。本文算法与实验结论可应用于工业机械臂力控制。
To address the issues of significant force fluctuations and large force tracking errors associated with tradi-tional impedance control under changing stiffness conditions,this study proposes an impedance control method that incorporates a recursive least squares approach for online identification of environmental stiffness and displacement compensation.This method enhances the performance of impedance control in variable stiffness environments.By constructing an improved impedance control model,the approach reduces steady-state error and force fluctuations during sudden changes in stiffness.The simulation experiment was conducted using Matlab/Simulink software.The results demonstrated that the improved impedance controller effectively eliminates steady-state errors in tracking force and reduces force fluctuations when environmental stiffness changes.Furthermore,experiments on the plat-form confirmed that the robotic arm maintains strong force-tracking performance on surfaces with varying stiffness.The algorithm and experimental findings presented in this paper are applicable to the force control of industrial ro-botic arms.
作者
宫大为
谢俊翔
代小林
何永琦
刘柏君
GONG Dawei;XIE Junxiang;DAI Xiaolin;HE Yongqi;LIU Baijun(School of Mechanical and Electrical Engineering,University of Electronic Science and Technology of China,Chengdu 611731,China)
出处
《哈尔滨工程大学学报》
北大核心
2025年第5期928-935,共8页
Journal of Harbin Engineering University
基金
国家自然科学基金项目(62303095).
关键词
机械臂
力控制
柔顺控制
阻抗控制
递推最小二乘法
遗忘因子
变刚度
参数辨识
mechanical arm
force control
compliant control
impedance control
recursive least squares method
forgetting factor
variable stiffness
parameter identification
