| Robotic Compliance means the ability of the robot to obey the environment. It is very important in the robot control. There are two methods to actualize the compliance control: Hybrid Force/Position Control and Impedance Control. Impedance Control is studied in this paper. It makes the force and position to fulfill the target dynamics relations through adjusting the impedance in the end of the robot (including the Rigidity, Damp and Inertia). Due to the different actualize ways of target impedance. Impedance Control can be divided as Position Based Impedance Control (PBIC) and Force Based Impedance Control (FBIC).On the basis of former achievement on Pneumatic-Hydraulic-Combination-Control (PHCC) servo system, PHCC robot finger is designed, and research the Impedance Control with predigesting the environment as spring. The structure, principle and traits of the system are introduced. Finish the theoretical analysis of the Impedance Control system, establish the math model of PHCC robot finger, and analyze the force tracking way with the difficulties. Finish the simulation with the off-line environment parameter estimate way and the off-line environment parameter estimate way, and establish the Neural Network (NN) Control model of the system. The advantages of this control method are proved by the simulation.Experimental platform with some of the original equipments being improved of PHCC- Impedance Control servo system is established on which data sampling and computer simultaneous controlling can perform. A spring and a thin sheet whose weight can be ignored are used to simulate the environment. And the software based on Windows has been developed in order to handle data during the process. Get force tracking curve and position tracking curve by doing lots of experiments. It proves the possibility of the PHCC- Impedance Control servo system based on force. It can realize the exact force and position tracking in a short time. Experimental results of the system are satisfactory. |
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