Application of particle swarm optimisation algorithm in manipulator compliance control

摘要

In this study, the motion model and impedance control model of the 9-DOF manipulator are established, and the impedance parameters in the model are optimised using particle swarm optimisation (PSO) algorithm. The experimental data shows that in the linear motion experiment, the maximum relative oscillation error of each scheme based on fuzzy adaptive proportional, integral and differential (PID) algorithm, offline parameter adjustment method and PSO algorithm on the vertical axis is 3.44%, 6.74% and 5.82% respectively, and the process control time from the contact between the robot and the environment to the contact force stability is 2.57 s, 3.82 s and 2.04 s respectively. The experimental results show that the PSO optimised impedance parameters can significantly improve the compliance control effect of the manipulator.