A research on the control strategy of automatic charging robot for electric vehicles based on impedance control

摘要

Abstract In this paper, we conducted a research about the automatic charging robot and develop a kinematic model for the UR5e robot based on the D-H method. And the simulation analysis of the load of the robot joint during the automatic charging gun insertion task was conducted, the robot’s ability to effectively complete the task when the exceeding payload was applied was demonstrated. The force control strategy based on the impedance control and the ARCC concept is proposed. Experiments in a laboratory environment and on a Tesla model 3 electric vehicle have shown that the method is effective in achieving a soft and smooth insertion of the charging gun.