Abstract: A lightweight and compact two-degree-of-freedom joystick was designed herein, and an adaptive variable impedance control strategy of sensor-less was proposed based on the joysticks. Firstly, the impedance parameters were adjusted according to the control forces of the operators to adapt to the different control habits of the operators. Secondly, in addition to ensuring accurate position control, the velocity control at the end-effector of the joystick was also added to improve the operator's control experience. Then, based on the variable impedance compliance control, the teleoperation force estimation control strategies were added to avoid the increase in system complexity caused by the extra wiring of the force sensor and the corresponding measurement noises. The stability of the above control strategies was proved in the Lyapunov sense, which shows that the control errors are convergent and the responses of the whole closed-loop system are uniform ultimate boundedness(UUB). Finally, the validity and stability of the above strategies were verified by simulation experiments and actual bench experiments.

Key words: joystick, compliant control, impedance control, adaptive control, force estimation

摘要： 设计了一款轻量化和紧凑型的二自由度操纵手柄，并基于该操纵手柄提出了一种无力传感器的自适应变阻抗控制策略。根据操纵员操纵力大小对阻抗参数进行相应的调整以适应操纵员不同的操纵习惯；除了保证精确的位置控制外，加入了操纵手柄末端的速度控制，增强了操纵员的操纵感受。另外，在变阻抗柔顺控制的基础上加入了操纵力估计控制策略，从而避免了由于加装力传感器的额外接线导致系统复杂度增加以及由此带来的测量噪声。证明了所提控制策略在Lyapunov意义下的稳定性，说明了控制误差是收敛的，整个闭环系统的信号响应是一致极限有界的。最后,通过仿真实验以及实际台架实验验证了上述策略的有效性和稳定性。

关键词: 操纵手柄, 柔顺控制, 阻抗控制, 自适应控制, 力估计