Application Of The Impedance Control In Torch Transferring Of Robot

This paper comes from a sub-task of 863 programs - the research of compliance control techniques on apery robot. One of goals on the program is to study compliance control algorithms under the condition of unknown robot model and dynamic environment and to realize the impedance control in torch transferring.The article's task is as follows: The Hogan impedance control, Seul impedance control and impedance control based on ANN inverse system are researched by simulation on robot of three joint. How to adjust impedance parameters is summarized. It is important to adjust impedance parameters during the force control and it effectively reduces the force between the robot and the environment according the simulaton. An open design of communication with robot based on ARCNET card is analyzed and realized. The Seul impedance control in simulated collision of torch transferring is realized with PA10C in the laboratory. The result of experiment shows that the algorithm meets the need of project and has good value of application.Lastly, the kinematics and inverse kinematics of PA10C are analyzed. It's the base of realizing impedance control on robot of six degree.