Research On Compliant Control Of Seven-Degree-of-Freedom Service Robot Arm For Human-Computer Interaction

With the rapid development of robot-related technologies,traditional position-controlled robots no longer have advantages.When it is necessary to solve the problem of contact between robots and unknown environments,service robots for human-computer interaction have emerged.The compliant control solves the problem of force control and position control of the service robot when interacting with the outside world,and plays a vital role in the motion control of the service robot.In this paper,the manipulative interaction of the robot hand is firstly studied,and the advantages,disadvantages and applicable scenarios of different compliance control methods are analyzed.In combination with the seven-degree-of-freedom manipulator used in the experiment,a force sensor is installed at the end to carry out a strategic study on the compliance control of the manipulator.Secondly,the basic coordinate system of the robot is selected,and the forward and inverse kinematics model of the seven-degree-of-freedom manipulator is established.The trajectory planning of the manipulator is combined with the interpolation control method of the driver itself to verify the trajectory tracking experiment.Position tracking accuracy.Then,the impedance control is used to realize the compliance control.The position-based impedance control model is established in Simulink simulation,and the influence of different impedance parameters on the robot control system is simulated.The impedance parameters suitable for the experimental robot are selected.Active compliant control algorithm for positional impedance control algorithms.Finally,the upper limb rehabilitation experiment platform of the mechanical arm is constructed,and the auxiliary software for human-computer interaction is designed.The active control algorithm proposed in the paper is used to carry out the active training experiment of the upper limb joints.The experimental results show that the active training effect is quantitatively evaluated.The human-computer interaction rehabilitation robot has certain training effects,which verifies the feasibility and important role of the seven-degree-of-freedom compliance control in humancomputer interaction.