Research on Robot Contact Force Control Based on Adaptive Impedance Control

摘要

The robot contacts the environment during the movement. When the environmental information is unknown or changed, impedance control is difficult to accurately control the contact force between the robot and the environment due to the fixed parameters of the model. Adaptive control can solve this problem well. The second method of Lyapunov is used to design the adaptive impedance control algorithm. This algorithm estimates the environment position and the environment stiffness online, calculates the correction value of the robot position, and reduces the steady-state error of the system. The control method has a simple form and strong robustness, and is suitable for realtime force tracking control system. The simulation results show that the control method has good adaptability to the environment and confirms the effectiveness of the control method.