When the double blade hydraulic passive compliance rotary joint is impacted by the external environment,the passive compliance of the joint will make the output angle of the joint valve body callback,and the output angle will recover rapidly after the collision.In order to effectively absorb the remaining impact energy,the adaptive impedance control is used as the active compliance control of the rotary joint,which is combined with the passive compliance control of the joint to realize the active and passive joint compliance control effect of the joint,and increases the return angle of the rotary joint when it is impacted,that is.it can better resolve the environmental impact force.At the same time,a fuzzy adaptive PID controller is designed and added to the joint control system as the position controller in the adaptive impedance control,which can reduce the steady-state error after the recovery of the output angle of the rotary joint and improve the safety of the joint when in contact with the outside world.
关键词
机械电子工程/液压关节/模糊PID控制/自适应阻抗控制/主被动联合柔顺控制
Key words
mechanical and electronic engineering/hydraulic joint/fuzzy PID control/adaptive impedance control/active passive joint compliance control
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