Impedance control technology of assembly robot based on active disturbance rejection

被引：0
|
作者：
Zhang S.-Y. [1 ]
Chen D.-S. [1 ]
Song Y.-H. [1 ]
机构：
[1] Institute of Mechanical Manufacturing Technology, China Academy of Engineering and Physics, Mianyang
来源：
Zhejiang Daxue Xuebao (Gongxue Ban)/Journal of Zhejiang University (Engineering Science) | 2022年 / 56卷 / 09期
关键词：
active disturbance rejection control (ADRC); compliant assembly; impedance control; peg-in-hole assembly; robot;
D O I：
10.3785/j.issn.1008-973X.2022.09.021
中图分类号：
学科分类号：
摘要：
An improved active disturbance rejection impedance control strategy was proposed, in order to improve the accuracy and flexibility of robot assembly operations. In this strategy, the new expected force was generated by the active disturbance rejection controller to adjust the position of the robot's end tool coordinate system, and achieve the accurate force tracking. The environmental information was observed by the disturbance observer and the expected force of the control system was compensated to improve the adaptability of the control system to environmental parameters. The impedance model was introduced to improve the disturbance observer, which increased the response speed of the observer and improved the precision of force tracking. The experimental results of precision peg-in-hole assembly based on 6-DOF robot showed that the impedance control based on active disturbance rejection control (ADRC) could complete the assembly with less contact force error to traditional impedance control, and the force average error of the impedance control based on improved ADRC was reduced by 12.0% to 28.2% compared with that before the improvement. © 2022 Zhejiang University. All rights reserved.
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页码：1876 / 1881
页数：5
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