Research on the direct teaching method of robot based on admittance control

摘要

Based on admittance control, a new control method for robot direct teaching was established. Firstly, the admittance control model was constructed and the inertia coefficient and damping coefficient in the controller were analyzed. The basic law of the effect of parameters on motion control is obtained. The fuzzy variable parameter configuration of the damping coefficient in the admittance controller was realized by integrating the cosine similarity of spraying task, the teaching guidance force and robot running speed parameters. Finally, the effectiveness of the control method was verified by experiments.