Research on Position-Based Impedance Control in Cartesian Space of Robot Manipulators

摘要

The dexterous manipulability of robot manipulators depend on its manipulative dexterity, grasp robustness, and human operability, which greatly influences the ability of humanoid robots for dexterous tasks. Consequently, the control system design and control strategies for dexterous robot manipulators become one of the hot spots in humanoid robots field. In this paper, a compliant control algorithm is proposed for the dexterous hand system. The theoretical analysis of the position-based impedance control algorithm in Cartesian space is carried out. The control structure is established and dynamic model of the algorithm is given. Finally, feasibility and effectiveness of the algorithm are verified by designing an impedance control simulation experiment.