| 基于粒子群算法的阻抗控制在机械臂柔顺控制中的应用 |
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| 引用本文： | 周晓东,任天助,张激扬,周锐.基于粒子群算法的阻抗控制在机械臂柔顺控制中的应用[J].空间控制技术与应用,2016,42(3):15-20. |
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| 作者姓名： | 周晓东 任天助 张激扬 周锐 |
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| 作者单位： | 北京控制工程研究所 精密转动和传动机构长寿命技术北京市重点实验室;北京航空航天大学自动化科学与电气工程学院，北京;北京控制工程研究所 精密转动和传动机构长寿命技术北京市重点实验室;北京航空航天大学自动化科学与电气工程学院，北京 |
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| 基金项目： | 北京市科技专项资助项目（Z151100001615067） |
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| 摘 要： | 阻抗控制策略是实现机械臂的末端力柔顺控制的一种重要方法.然而，针对阻抗控制参数的确定，目前尚缺乏通用算法.粒子群算法具有概念简单、易行、鲁棒性好等特点，适用于阻抗控制参数的确定与优化.通过分析基于力反馈的笛卡尔空间阻抗控制结构，采用粒子群算法整定阻抗控制参数.结合阻抗控制自身特点对粒子群算法做了相应改进，并通过仿真验证了优化后的阻抗控制算法可实现对七自由度机械臂的柔顺控制且具有较好的鲁棒性.
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| 关 键 词： | 粒子群算法 柔顺控制 阻抗控制 机械臂 |
Application of Impedance Control for a Robotic Manipulator
Based on Particle Swarm Optimization Algorithm |
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| ZHOU Xiaodong,REN Tianzhu,ZHANG Jiyang and ZHOU Rui.Application of Impedance Control for a Robotic Manipulator
Based on Particle Swarm Optimization Algorithm[J].Aerospace Contrd and Application,2016,42(3):15-20. |
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| Authors: | ZHOU Xiaodong REN Tianzhu ZHANG Jiyang and ZHOU Rui |
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| Institution: | Beijing Key Laboratory of Long Life Technology for Precise Rotating and Transmission Mechanism,
Beijing Institute of Control Engineering, Beijing 100190;School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and
Astronautics, Beijing 100191;Beijing Key Laboratory of Long Life Technology for Precise Rotating and Transmission Mechanism,
Beijing Institute of Control Engineering, Beijing 100190;School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and
Astronautics, Beijing 100191 |
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| Abstract: | Impedance control strategy is one of the most important methods for the force and compliance control of robotic manipulators. However, it is difficult to obtain impedance parameters due to the absence of versatile algorithms. According to the structure of Cartesian impedance control based on force feedback, Particle swarm optimization (PSO) algorithm is employed to determine and optimize the impedance parameters via taking advantage of its concision, feasibility and robustness. In addition, the PSO algorithm is improved to some extent in the characteristics of impedance control. Finally, the robustness performance of the optimized impedance control strategy is verified via simulation of compliance control of a 7 DOF (degree of freedom) robotic arm. |
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| Keywords: | PSO compliance control impedance control robotic manipulator |
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