Adaptive Hybrid Impedance Control Algorithm Based on Subsystem Dynamics Model for Robot Polishing

被引：7

作者：

Luo, Zihao ^{[1
]}

Li, Jianfei ^{[1
]}

Bai, Jie ^{[1
]}

Wang, Yaobing ^{[1
]}

Liu, Li ^{[1
]}

机构：

[1] Beijing Inst Spacecraft Syst Engn, Beijing Key Lab Intelligent Space Robot Syst Tech, Beijing, Peoples R China

来源：

INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2019, PART VI | 2019年 / 11745卷

关键词：

Subsystem kinetic model; Adaptive control; Hybrid impedance control; Robot polishing system;

D O I：

10.1007/978-3-030-27529-7_15

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

With the continuous application of robots, the accuracy requirements of robot control have been continuously improved. In the past, robot position control systems that can perform good palletizing, clamping, sorting, etc., have been unable to meet people's needs. Therefore, based on theory, simulation and experimental verification, this paper proposes an adaptive hybrid impedance control algorithm based on subsystem dynamics model design, which reduces the computational complexity of the algorithm and solves the problem of inaccurate modeling. Related research and discussion in combination with grinding experiments for different surfaces.

引用

页码：163 / 176

页数：14

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