Research On Impedance Control Based On Dynamic Parameter Identification

As the requirements for controlling performance of robots are getting higher and higher,the range of applications is getting wider,and various control methods based on robot dynamics model are gradually proposed.On the one hand,based on the feedforward control of the dynamic model,adaptive control can improve the performance of the robot during heavy-duty,high speed,high-precision working conditions,and on the other hand,based on the soft control of the dynamic model,power control gradually expand human machine collaboration.Application scenario,robot dynamics model plays an important role in robotic control.This paper completed the dynamic modeling and model parameter identification of robots,and on this basis,the related research of impedance control is carried out.First,this paper uses the D-H method to analyze the kinematics of the robot,using Newton-Euli method to analyze the dynamics of the robot,and consider the effects of joint friction in modeling.After the complete joint momentum expression is derived in Mathematica,the robot model has been solved and the minimum inertial parameter set is solved,and the linear minimum inertial parameter model that can be used for identification is obtained.Then,the design and optimization of the incentive trajectory was studied to discuss the form and advantages of the Finite Fourier trajectory.The number of regression matrix conditions is the target function,and the trajectory parameters optimization problem is converted into nonlinear optimization.The solution of the above problems is completed by the genetic algorithm with penalties,and the test of trajectory self-collision constraints is completed in simulation.Next,the excitation track acquisition data is operated on the experimental platform,and the rloess smoothing process is performed on the joint position and speed data.The torque data is spectrum analysis,design the Badworth low-pass filter and zero phase filter;use great likelihood estimates Method for identifying the model parameters,calculating the root root of the actual and model predictive moment error to determine the accuracy of the parameter identification.Finally,the force-based impedance control method is expounded,and the impedance control expression of joint space and Cartesian space is derived separately.According to the obtained kinetic model and impedance control algorithm,the relationship between the impedance control parameters and the flexible behavior of the robot and the flexible behavior of the robot were also simulated,and the trial based on the actual robot was also verified.The effectiveness of the model impedance control algorithm.