An Overview On Compliance Control Of Robot Based On The Impedance Control

This article comes from a sub-task of 863 program——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 control the compliance of robot on line.This article's task is as follows: The traditional impedance control and adaptive impedance control are researched by simulation and compares of their performance under much condition are done. How to adjust impedance parameters is presented preliminarily. It is important to adjust impedance parameters during the force control and it effectively reduce the force between the robot and the environment. Based on ANN inverse system method can overcome the difficulties of nonlinearities and strong coupling in multi-degrees of freedom robot system; with characters of simple structure and without knowing the controlled system's precise model, this method can be generalized to a class of MIMO nonlinear system in real field. This article discusses the algorithm on the combine of impedance control and ANN inverse system: firstly the robot system is linearized by the method of ANN inverse system, secondly the decoupling robot system is controlled by impedance strategy; this algorithm is called impedance control based on ANN inverse system. The new algorithm is simulated and its result is very well.Finally, the neural network inverse system method is implemented on the PA—10 robot and the robot system is uncoupled. The experiment shows that this algorithm can make the robot track the trace very well.