摘要
用于人机协作的柔性一体化关节是下一代工业机器人发展的重点。本文针对实验室开发的一体化关节的控制进行详细讨论,在传统PD控制的基础上引入力矩反馈,详细讨论了力矩环的引入对于柔性关节动力学特性的影响。对于柔性一体化关节提出位置、阻抗一致性控制方法,该控制器在高的控制增益时能实现位置控制,在低控制增益时实现阻抗控制。最后通过实验验证了该控制器的有效性。
The flexible integrated joint robot for human - machine collaboration is the focus of the next generation of industrial robots. This article discusse in detail the control of the flexible joint developed in our lab. The dynamic characteristics of flexible joints is improved by the introduction of the torque loop and a unified postion and impedance contMler is proposed for the flexible joint. This contMler can achieve position contM with high contM gain and impedance control with low control gain. Subsequently, the experiment verifies the effectiveness of this controller.
作者
刘清华
陈庆盈
王冲冲
Liu Qinghua;Chen Qingnying;Wang Chongchong
出处
《计量与测试技术》
2018年第11期2-5,共4页
Metrology & Measurement Technique
基金
中国博士后科学基金面上基金项目(2016M601987)
关键词
柔性关节
位置控制
阻抗控制
flexible join
position control
impedance control
