Compliant System Control Of Active Contact Flange

The robot's compliance control is widely used in many areas such as Robot human-machine interface,Robot bionics,Polishing,Aerospace and so on.Compliance system makes the mechanical structure to perform more flexible actions,which makes the whole system more intelligent.The general classical control algorithm can satisfy the compliance system in the fixed environment,and which can achieve better result.However,in practical applications,more compliance control systems are used in unknown environments.The environment cannot be estimated in advance or not be changed according to unexpected circumstances.There are some classic control algorithms that can't be applied to any working environment.In order to solve this problem,a control scheme combining impedance control with adaptive control is proposed in this article.First of all,this paper mainly analyzes the principle of pneumatic in compliance system and makes modeling.The pneumatic system is divided into three parts for mathematical description,respectively,solenoid valve,pneumatic actuator and friction.The transfer function of each part of the system is synthesized,the parameter adjustment principle of transfer function is analyzed,and the stability of the transfer function is analyzed.Then,the impedance control of the compliance system is carried out,the parameters of impedance control are identified and analyzed.The advantages and disadvantages of the impedance control are verified,and the foundation of the Adaptive controller design is laid.Secondly,a new adaptive impedance control algorithm is proposed to adjust the controller in real time to realize the uniform control in different environments.A reasonable adaptive impedance controller is designed to compare the common impedance control with adaptive impedance control.Adjusting the parameters,obtain the better tracking performance.The stability of adaptive impedance compliance system is verified by Lyapunov stability criterion.Finally,the experimental algorithm is validated by the flange experiment platform.Designing variable parameter Impedance control experiment,adaptiveimpedance control and impedance control contact force experiment.The stability and practicability of the experimental algorithm are verified and the performance of the adaptive controller is proved to be better.