Abstract:This paper presents an adaptive method to correct large force error in impedance control.It modifies the reference position according to the force error on line so that contact force between the manipulator and the environment can track the reference force.And it is robust to the uncertainties such as compensation error,disturbance and knowledge of the environment.This method satisfies the requirement of the realtime control because of its short computation time.Experiment results verify its efficiency.
1 Hogan N.Impedance Control:An Approach to Manipulation:`Part I-theory.Part II-Implementation.Part III-Applcations.J Dyn Sys Meas Cont,1985:1~24 2 Kazerooni H,Houpt P K,Sheridan T B.Robust Complaint Motion for Manipulators,Part I:The Fundamental Con-cepts of Coomplaint Motion.Part II:Design Methos.IEEE J Robotics Automat,1986,R A-2(2):83~105 3 Lasky T A,Hsia T C.On Force-tracking Impedance Control of Robot Manipulators.Proc IEEE Int Conf Robot and Automat.Sacramento California-April,1991:274~280 4 Salis bury J K.Active Stiffness Control of a Manipulator in Cartesian Coordinates.Proc 19th IEEE Conf Decision Contr,1980:95~100 5 Chan S P,Yao B,Gao W B,Cheng M.Robust Impedance Control of Robot Manipulators.Int J Robotice Automation,1991,6(4):220~227 6 Seraji H,Colbaugh R.Force Tracking in Impedance Control.Int J Robotics Research,1997,16(1):97~117 7 Bondi P,Gambardella L.On the Iterative Learning Control Theory for Robotic Manipulators.IEEE J Robotics Automation,1988,4(1):14~228 常文森等.操作器力和位置混合控制.数学模型和实验研究中的几个问题.机器人,1993,15(1):1~9 9 韦庆,常文森,张彭.基于迭代学习的机械手操作空间力/位置混合控制算法.自动化学报,1997,23(4):468~474