Performance Optimization Method of Variable Impedance Controller Based on Particle Swarm Optimization

被引：0
|
作者：
Tao Tianpin [1 ]
Wang Dongrui [1 ]
Ma Lei [1 ]
Sun Yongkui [1 ]
机构：
[1] Southwest Jiaotong Univ, Inst Syst Sci & Technol, Chengdu, Sichuan, Peoples R China
来源：
2023 35TH CHINESE CONTROL AND DECISION CONFERENCE, CCDC | 2023年
关键词：
particle swarm optimization; variable impedance control; UR5; manipulator;
D O I：
10.1109/CCDC58219.2023.10327129
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
To solve the problem that traditional variable impedance controllers do not consider the initial parameter setting, a parameter optimization method of variable impedance controller based on particle swarm optimization algorithm was proposed. Firstly, the equation of impedance control is established, and then the stability of the discrete system is analyzed by using Rouse criterion. The Simcape model of UR5 manipulator is built on Matlab simulation platform, and the impedance controller based on particle swarm optimization algorithm is designed. Finally, the experiment is carried out on the real object of URS manipulator. Simulation and experimental results show that the proposed method is feasible.
引用
收藏
页码：1533 / 1538
页数：6
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