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Impedance control strategy and experimental analysis of collaborative robots based on torque feedback
Alternative TitleImpedance control strategy and experimental analysis of collaborative robots based on torque feedback.pdf
Wang H(王浩)1,2,3; Wang Z(王争)4,5; Wang HG(王洪光)4,5
Department工艺装备与智能机器人研究室
Conference Name2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
Conference DateDecember 6-8, 2019
Conference PlaceDali, China
Source PublicationIEEE International Conference on Robotics and Biomimetics, ROBIO 2019
PublisherIEEE
Publication PlaceNew York
2019
Pages2951-2957
Indexed ByEI
EI Accession number20200608146518
Contribution Rank1
ISBN978-1-7281-6321-5
KeywordCollaborative robots Torque feedback Impedance control Active compliance
AbstractIn this paper, through the modeling and analysis of flexible joints, an impedance controller based on torque feedback is proposed, which is used to realize the active compliance of collaborative robots. The controller includes two parts: torque controller and impedance controller. The torque controller is used to compensate the robot dynamics, and the impedance controller is used to adjust the joint stiffness and damping. The theoretical analysis of the control strategy shows that the significance of torque feedback is that it can reshape the inertia of the motor, reduce friction torque and suppress unknown disturbances. In order to ensure tracking accuracy, a task error-based disturbance observer is designed. Experiments with a 7-DOF collaborative robot show that the proposed controller in this paper can realize the body compliance and obtain better compliance performance than the traditional compliance control method.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/26286
Collection工艺装备与智能机器人研究室
Corresponding AuthorWang H(王浩)
Affiliation1.University of Science and Technology of China, School of Information Science and Technology, Hefei, Anhui Province, China
2.Chinese Academy of Sciences, State Key Laboratory of Robotics, Shenyang Institute of Automation, Hefei, Anhui Province, China
3.Institues for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Hefei, Anhui Province, China
4.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning Province, China
5.Institues for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, Liaoning Province, China
Recommended Citation
GB/T 7714
Wang H,Wang Z,Wang HG. Impedance control strategy and experimental analysis of collaborative robots based on torque feedback[C]. New York:IEEE,2019:2951-2957.
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