Open AccessHybrid Impedance Control of Robot Manipulators based on Generalized Momentum
Author(s) -
Kaining Li,
Xianmin Zhang,
Yanbin Huang
Publication year - 2020
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/825/1/012047
Subject(s) - impedance control , control theory (sociology) , scara , torque , computer science , robot , engineering , control engineering , control (management) , physics , artificial intelligence , thermodynamics
In the hybrid impedance control strategy, the task space is divided into position control subspace and force control subspace, and the constraint direction in the manipulator task space is controlled by torque-based impedance control, while the free movement direction is controlled by position-based impedance control. The hybrid impedance control has strong force tracking characteristics in the direction of force control and strong flexibility in the direction of position control. In this paper, we use the generalized momentum observer instead of the torque sensor to estimate the torque exerted by the external environment on the robot. Simulation results are shown for a three-link SCARA robot.