Impedance control method and device, impedance controller and robot

Abstract

The embodiment of the invention provides an impedance control method and device, an impedance controller and a robot. The method comprises the steps of acquiring joint motion information and joint stress information of a mechanical arm in a joint space and actual interaction force received by a tail end, and solving actual motion information of the tail end in a task space according to the joint motion information; calculating a corrected expected trajectory by using environmental information and tail end expected interaction force, carrying out calculation to obtain an impedance control moment according to the joint stress information, the actual interaction force, the actual motion information and the tail end expected information containing the corrected expected trajectory, determininga compensation moment according to a nonlinear term in a constructed dynamic equation, and therefore controlling the joint moment of the mechanical arm. According to the technical scheme, the impedance control law is corrected to realize directional decoupling impedance control, so that the interaction between the tail end and the environment is safer and more compliant, and the force control precision can be improved; and control complexity can be simplified through the nonlinear term in the compensation dynamic equation

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to an impedance control method, device, impedance controller and robot. Background technique [0002] Different from the position-controlled manipulators that are widely used at present, the torque-controlled manipulator can directly control the output force, has faster response speed and safety, and can better meet the needs of service robots and collaborative robots that have high requirements for safety and compliance. field. However, the control of the force-controlled manipulator is more complicated, and the full dynamics of the robot must be considered, which has high nonlinearity. [0003] The impedance control of Cartesian space has good flexibility and is suitable for interactive occasions. However, its goal is to control the relationship between force and position at the end of the manipulator, and it cannot achieve independent control of position or force, making ...

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Problems solved by technology

However, its goal is to control the relationship between force and position at the end of the manipulator, and it cannot achieve independent control of position or force, making the manipulator unable to track the desired interaction force

In addition, when carrying out the impedance task in the Cartesian task space, due to the coupling of the mass matrix of the terminal between the directions of the terminal, the impedance behavior exhibited by it also has directional coupling, that is, if only the force in the vertical direction , the other two directions that are not subject to external forces will also produce motion, so precise desired force control cannot be achieved, etc.

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