A Study of Machine Manpower Tracking Based on Joint Torque Feedback under Impedance Control
Aiming at the problem of the force movement of collaborative robots in contact with the external environment during the operation stroke,one method is to measure the end contact force by using a six-dimensional torque sensor so as to realize the supple control,and the other is to use the joint torque for the supple control of the robots,and this paper starts to study the method with the joint torque.Firstly,the robot dynamics model is established according to the Lagrange equation,and the impedance control model based on joint moments is established,and the grinding force is set for the collaborative robot in time segments,and the end torque is tracked to realize the constant force grinding.The effect of changing different values of impedance parameters on the end force tracking is analyzed.The simulation proves that the impedance control based on joint torque can complete the robot operation and the accuracy of force control can meet the requirements.
impedance controljoint torque controlconstant force trackingcollaborative robotics
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