Research On Robot Force Control Based On Impedance Control

Master-slave robot is an important research field in robotics.It has been widely applied in aerospace,nuclear waste disposal,medical surgery and other fields.In the study of the master-slave robot,the operation experience of the master-slave robot can be greatly improved by feeding the contact force from the slave robot to the main hand under the condition that the slave robot can follow the motion of the master robot.To control the master robot's tracking of the desired force,impedance control is needed.Based on the laboratory's ”master slave type endoscopic robot” project,the force tracking control of the robot's master robot is simulated and experimentally studied in this paper.First of all,this paper simplifies the Delta master robot used in the experiment platform and establishes the coordinate system.Then kinematics analysis is carried out,and the forward and inverse kinematics model of Delta master robot is established.Then,the model is verified by MATLAB and ADAMS co-simulation.The dynamics of Delta master robot is analyzed by virtual work principle,and the model is simplified.Secondly,the position based impedance control method is analyzed and applied to the previous robot model for force control simulation experiments.The simulation model is built with SIMULINK,and the tracking situation of the classical impedance control algorithm under the step signal,the slope signal and the sinusoidal signal is tested,and the simulation experiment of the variable environment is carried out.In view of the insufficiency of the impedance control for the poor dynamic signal tracking result and the great fluctuation when the environment changes,the adaptive algorithm is used to improve the performance of the control system.The stability of adaptive impedance control is analysed,and the contrast simulation experiment with the impedance control is carried out.Finally,the whole experimental system is introduced,and the algorithm is verified by experiments.The designed experiments verify the effectiveness of impedance control in force tracking.The contrast experiment between the impedance control and the adaptive impedance control shows that the adaptive impedance control can better track the dynamic signal and the control effect is better when the environment changes.