Robot Impedance Control Method Adapting to Unknown or Changing Environment Stiffness and Damping Parameters

Abstract

Abstract:

The robot impedance control performance decreases with the efffects of changing or unknown environment stiffness and damping parameters in practical applications,this paper presented a self-adaptive robot impedance control method to resolve this problem. Based on the definition of the robot impedance control performance index and the geometric representation for the impedance model stiffness variation, the calculation method was illustrated for intitial values of the the impedance model stiffness. Designing an artificial neural network to estimate the environmental equivalent stiffness online and combining with critical damping condition of the second-order system, a calculation method was provided for the impedance model damping initial values. The results of robot force control experiments demonstrate smoother reference trajectory, improved robot force control stability and feasibility in practices compared to the existing robot impedance control methods.

Key words: robot impedance control, impedance model parameter, neural network, robot force contol

摘要：

针对机器人阻抗控制在实际应用中其性能受环境的阻尼、刚度参数未知或变化影响的问题，提出了一种机器人自适应阻抗控制方法。在定义机器人阻抗控制性能指标的基础上结合阻抗模型刚度变化的几何表示,给出了阻抗模型刚度参数初值计算方法,提出了基于人工神经网络的环境等效刚度在线估计方法，并结合二阶系统临界阻尼条件计算阻抗模型阻尼参数初值。机器人力控制实验结果验证了该方法较已有的机器人阻抗控制方法在参考轨迹平滑性、力控制稳定性和易于工程实践方面有一定的优势。

关键词: 机器人阻抗控制, 阻抗模型参数, 神经网络, 机器人力控制

CLC Number:

TP242.6

Li Zhengyi, Cao Huimin. Robot Impedance Control Method Adapting to Unknown or Changing Environment Stiffness and Damping Parameters[J]. China Mechanical Engineering, 2014, 25(12): 1581-1585.

李正义, 曹汇敏. 适应环境刚度、阻尼参数未知或变化的机器人阻抗控制方法[J]. 中国机械工程, 2014, 25(12): 1581-1585.

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Robot Impedance Control Method Adapting to Unknown or Changing Environment Stiffness and Damping Parameters

适应环境刚度、阻尼参数未知或变化的机器人阻抗控制方法

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