Research On Active Compliant Operation Of Manipulator Based On Impedance Control

With the deepening of research,robots have gradually been able to replace humans to complete a variety of tasks.The interaction characteristics between robots and the environment and the control strategies of interaction forces are the hotspots of current research.In order to solve the above problem about the control of the compliance of the robot in contact with the outside world,this paper mainly uses the impedance control to realize the research on the active compliance control of the SCARA robot.and realizes the interaction between the robot and the environment from the two aspects of simulation and experiment.The compliant property is studied by modifying the parameters of the impedance control for constant force control.The flexibility characteristics of the interaction between the robot and the environment are realized from the aspects of simulation and experiment,also the constant force control is studied by modifying the parameters of the impedance control.In terms of simulation,the basic kinematics of the SCARA robot and the Jacobian matrix is analyzed in this paper.To obtain the basic kinematics of the physical robot,using the novel Simscape Multibody combined with the Robotics System Toolbox toolbox to simulate the dynamics of the robot.The advantage of this method compared with the traditional Adams simulation is illustrated,and the inverse dynamic position controller of the task space is built using the dynamic model.Then two different impedance controls are given in this paper.The difference between the two impedance controls is compared in detail from the implementation angle,and two methods for adjusting the impedance control parameters to achieve constant force control are given.Finally,Stability analysis of variable impedance control in contact environment and free state.In terms of implementation,this paper uses the Googol position control card to realize the basic motion of the robot.The motor motion is converted to the joint angle of the robot,and software compensation is used to resolve the gap of the motor shaft.Then the external force on the robot is obtained by the six-dimensional force sensor or the virtual force,and the gravity compensation for the end effector under normal circumstances is introduced.Then,according to the characteristics of the board control,joint impedance control and Cartesian impedance control are simplified and realized.In the experiment,in order to detect the data and the state on the robot runtime,TCP/IP communication was used to establish the connection between the server and the client,the status information running in the SCARA robot client program was forwarded to the server.A graphical program to monitor the operation of the robot was programmed using the HelixToolKit toolkit.Finally,the joint impedance control,Cartesian impedance control and force control experiments are carried out based on the SCARA robot prototype platform built above.The experimental results verify the rationality of the impedance control and its related algorithms.This paper attempts to construct a universal control system for impedance control compliance and force control through simulation and experiment.The obtained results have important theoretical and practical significance for the subsequent realization of stable high-precision robotic compliance control platform.