摘要
介绍了阻抗控制理论,分析了力矩传感器及其结构,并对关节进行了动力学参数辨识。基于力矩传感器实现关节空间的阻抗控制,论述了力矩闭环、阻抗模块、输出位置替换等问题。对阻抗控制测试结果进行了分析,确认了改进方向。
The theory of impedance control was introduced. The force moment sensor and its structure were analyzed, and the dynamic parameters of the joint were identified. Based on the impedance control of joint space realized by the force moment sensor, the issues on closed loop of force moment, impedance module and replacement of output position were discussed. The improvement orientation was identified via analyses of test results for impedance control.
引文
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