Flexibility Control of Large Load Hydraulic Manipulator Based on Adaptive Impedance Control
A self-adaptive impedance control algorithm is proposed for the compliance control of large load hydraulic robotic arms.The algorithm estimates the environmental stiffness and position in real-time based on the contact force information measured by the six dimensional force sensor and the position information of the robotic arm bottom.Based on the estimated values of environmental stiffness and environmental position,the reference trajectory of the robotic arm is modified to achieve adaptive impedance control and achieve better force control effect.Conducted hydraulic robotic arm pipeline handling experiments and verified the performance of adaptive control algorithms.The results show that compared to traditional impedance control algorithms,the use of adaptive impedance control algorithms for robotic arms can achieve better force control performance and flexibility.
hydraulic robotic armsflexibility controlimpedance controladaptive control
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