Research On Hybrid Force/Position Control Of Robotic Manipulators

When the manipulators comes into contact with the external environment,in order to achieve the best working effect,it is necessary to control the movement of the manipulators along the desired trajectory,and it also needs to balance or eliminate the interaction forces with the external environment by controlling the motion of the manipulators.Therefore,the simultaneous implementation of force and position control in manipulatorss has become a popular research topic.In this paper,a hybrid control algorithm of force and position of the manipulator is designed to control the movement of the manipulator to balance or eliminate the contact force generated by the interaction with the external environment under the desired position and posture.In this paper,the x Arm6 six-joint manipulators is used as the research object,and the standard D-H method is used to establish the manipulators linkage coordinate system through the structural parameters of this collaboration manipulators,and according to the coordinate transformation of each joint,a positive kinematic model is established for the manipulators.To solve the inverse kinematic model of the manipulators,the NewtonRaphson iterative method is utilized.The differential transformation method is used to obtain the geometric and analytical Jacobian matrices of the manipulators.The Newton-Euler dynamics are then derived and calculated.The kinematic model is verified using Robotic Toolbox,it lays the foundation for the study of manipulator control.For the control of the force and position of the manipulators during execution,application of Sim Mechanics Simulation system of mechanical arm physical model,the feedforward-feedback PID position control and the calculated torque position control of the manipulator was established by Matlab/Simulink platform.By analyzing and simulating two supple control methods of computational force-position hybrid control: position-based impedance control and a hybrid force/position control for the manipulators.The effectiveness of this flexible control approach is confirmed through simulation.Study the development of ROS-based robot control system(Robot Operating System),develop the ROS program package for the control algorithm in this paper,build the model through Gazebo simulation environment,apply the joint controller plug-in and force sensor plug-in to realize the simulation of the manipulators control algorithm,control the movement of the manipulator to balance or eliminate the contact force generated by the interaction with the external environment under the desired position and posture.Build the manipulators experimental platform and connect it to the x Arm controller by using ROS.A camera is applied to locate the target position and generate the desired trajectory,the interaction force with the acting object is acquired in real time by the sixdimensional force sensor,and the control algorithm is verified by applying the x Arm6 manipulators to perform the driving task.