基于粒子群算法的阻抗控制在机械臂柔顺控制中的应用

doi:10.3969/j.issn.1674-1579.2016.03.003

Abstract

Abstract: Abstract：Impedance control strategy is one of the most important methods for the force and compliance control of robotic manipulators. However, it is difficult to obtain impedance parameters due to the absence of versatile algorithms. According to the structure of Cartesian impedance control based on force feedback, Particle swarm optimization (PSO) algorithm is employed to determine and optimize the impedance parameters via taking advantage of its concision, feasibility and robustness. In addition, the PSO algorithm is improved to some extent in the characteristics of impedance control. Finally, the robustness performance of the optimized impedance control strategy is verified via simulation of compliance control of a 7 DOF (degreeoffreedom) robotic arm.

Key words: Keywords：PSO, compliance control, impedance control, robotic manipulator

CLC Number:

ZHOU Xiao-Dong, REN Tian-Zhu, ZHANG Ji-Yang, ZHOU Rui. Application of Impedance Control for a Robotic Manipulator Based on Particle Swarm Optimization Algorithm[J]., 2016, 42(3): 15-20.

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URL: http://journal01.magtech.org.cn/Jwk3_kjkzjs/EN/10.3969/j.issn.1674-1579.2016.03.003

http://journal01.magtech.org.cn/Jwk3_kjkzjs/EN/Y2016/V42/I3/15

References

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Application of Impedance Control for a Robotic Manipulator Based on Particle Swarm Optimization Algorithm

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