Impedance Control Strategy and Experimental Analysis of Collaborative Robots Based on Torque Feedback

摘要

In this paper, through the modeling and analysis of flexible joints, an impedance controller based on torque feedback is proposed, which is used to realize the active compliance of collaborative robots. The controller includes two parts: torque controller and impedance controller. The torque controller is used to compensate the robot dynamics, and the impedance controller is used to adjust the joint stiffness and damping. The theoretical analysis of the control strategy shows that the significance of torque feedback is that it can reshape the inertia of the motor, reduce friction torque and suppress unknown disturbances. In order to ensure tracking accuracy, a task error-based disturbance observer is designed. Experiments with a 7-DOF collaborative robot show that the proposed controller in this paper can realize the body compliance and obtain better compliance performance than the traditional compliance control method.