A Study of Hybrid Position/Impedance Control for Robot Arm

• Main Authors: Hen-Shiung Chen, 陳漢雄
• Other Authors: Shih-Hsuan Chiu
• Format: Others
• Language: zh-TW
• Published: 2010
• Online Access: http://ndltd.ncl.edu.tw/handle/45601549126167268546

碩士 === 國立臺灣科技大學 === 自動化及控制研究所 === 98 === Force control is an essentially critical issue on the application between current robot arms and the contacting environment. To obtain the demand of force control with the position-controlled mode, we propose the compliance control of a hybrid position/impedance control. In this paper, robot arms adopt impedance control with virtual damping and the function of compliance to the environment like springs, which possibly modify the position and gesture of arms according to the contacted force and moment to prevent the fail of mission and the damaging situation. Moreover, it rises the positional precise while collaborating with position-control mode. This research uses a six-DOF robot arm, self-designed by our laboratory, loading a six-DOF-sensor to gather information by force feedback to calculate the positional errors and for obtain the compliant capability of adjusting to the external force by correcting position of robot arm. We design two experiments to proof the algorithm. Firstly, we discuss the parameters of impedance control for the compliance external force. According to the experimental results, we analyze the relationship between position and force in the system by the corresponding relationship with impendence controlled parameters, and modulate the parameters of impedance control for the mission demand. Secondly, forward a task of the Peg-In-Hole, to verify the purpose of automated assembly using proposed the hybrid position/impedance control. The control method we presented could perform a better performance.