Research On The Compliant Control Method Of Series Manipulator

In recent years,Human robot collaboration to complete complex tasks,has become an urgent need for industrial upgrading,the key technology has also become a research hotspot.Among them,how to ensure the safety of the mechanical arm that has some flexibility is the most important technical issues.Based on this,takes 7 DOF mechanical arm as the research object,analysis and calculation of torque feedback according to the motion of redundant and impedance control.First,through the robot arm introduction that domestic and foreign research present situation,The main research ideas and contents of this thesis are presented in this paper,which mainly summarizes the existing cooperative manipulator system and the compliance control method.Secondly,based on the analysis of the redundant motion characteristics of 7 degrees of freedom manipulator,a forward kinematics solution and inverse solution method for the manipulator arm of S-R-S configuration is proposed.In addition,an in-depth study on the estimation method of the robot joint torque is carried out.The main application of the friction feedforward method is studied.The difficult problem is the current torque dynamics modeling,and the friction model is selected and identified.Then,Impedance control of force method is applied to 7 degree of freedom manipulator,and the control system performance and the influence of each parameter on the system are analyzed.Finally,the above method is applied to the seven degree of freedom manipulator platform.and the application example of the manual traction is designed.The experiment results show that the system is effective and the control algorithm is effective.It verifies the feasibility of the method proposed in this thesis,and has a certain application prospect.It provides the necessary theoretical exploration and technical experience accumulation for the follow-up study.