一种工业机器手的自适应阻抗控制方法

An Approach to Adaptive Impedance Control for Industry Robot Manipulators

提出一种基于任务空间的直接自适应阻抗方法,它不要求辨识机器手动态模型结构和参数,不需要计算机器手的运动学逆变换,因此,避免了基于机器手模型线性寿数辨识的控制方法的缺点。这种控制方法具有直接自适应控制方法鲁棒性好的特点,且适用于具有冗余自由度的机器手的控制。仿真研究表明,该方法具有良好的控制效果。

This paper presents a direct adaptive impedance controller for robot end - effectors performing tasks in task space. The proposed scheme dose not require any knowledge of either the structure or the parameters of the manipulator dynamic and is implemented without calculation of the robot inverse kinematic transformation. It is very general and computationally efficient and can be applied to manipulators with degree of redundancy. The stability of the strategy can be guaranteed. The simulation results of the PUMA 560 robot are given.