| Issue |
MATEC Web Conf.
Volume 336, 2021
2020 2nd International Conference on Computer Science Communication and Network Security (CSCNS2020)
|
|
|---|---|---|
| Article Number | 03005 | |
| Number of page(s) | 9 | |
| Section | Design and Control of Intelligent Robotics | |
| DOI | https://doi.org/10.1051/matecconf/202133603005 | |
| Published online | 15 February 2021 | |
A model reference adaptive variable impedance control method for robot
1 Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology
2 National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, School of Mechanical Engineering, Tianjin University of Technology
* Corresponding author: zliu@email.tjut.edu.cn
As a simple and effective force tracking control method, impedance control is widely used in robot contact operations. The internal control parameters of traditional impedance control are constant and cannot be corrected in real time, which will lead to instability of control system or large force tracking error. Therefore, it is difficult to be applied to the occasions requiring higher force accuracy, such as robotic medical surgery, robotic space operation and so on. To solve this problem, this paper proposes a model reference adaptive variable impedance control method, which can realize force tracking control by adjusting internal impedance control parameters in real time and generating a reference trajectory at the same time. The simulation experiment proves that compared with the traditional impedance control method, this method has faster force tracking speed and smaller force tracking error. It is a better force tracking control method.
© The Authors, published by EDP Sciences, 2021
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