李堉明1,2 刘成沛1 徐智浩2
（1.五邑大学轨道交通学院，广东 江门 529020
2.广东省科学院智能制造研究所/广东省现代控制技术重点实验室，广东 广州 510070）
摘要：针对机械臂在未知曲面上的力控制与自适应姿态随形的问题，提出一种基于改进阻抗控制的位姿-力柔顺闭环控制方法。通过正交分解将机械臂末端的位置控制空间、力控制空间进行解耦；设计位姿-力柔顺闭环控制器，实现位姿-力精确控制。根据跟踪圆轨迹、心型线轨迹实验，验证了该方法在未知曲面上能够实现稳定的位姿-力控制，提高了机械臂系统的鲁棒性。
关键词：机械臂；自适应控制；柔顺控制；曲面法向跟踪；未知曲面
中图分类号：TP242 文献标志码：A 文章编号：1674-2605(2025)05-0003-06
DOI：10.12475/aie.20250503开放获取
Research on Adaptive Compliance Control ofRobotic Manipulators for Surface Normal Conformity on Unknown Surfaces
LI Yuming1,2 LIU Chengpei1 XU Zhihao2
(1.School of Rail Transportation, Wuyi University, Jiangmen 529020, China
2.Institute of Intelligent Manufacturing, Guangdong Academy of Sciences/ Guangdong Key Laboratory of Modern Control Technology,Guangzhou 510070, China)
Abstract: Aiming to address the challenges of force control and adaptive posture shaping for robotic manipulators operating on unknown surfaces, this paper proposes a closed-loop position-force compliant control method based on improved impedance control. The end-effector's position control space and force control space are decoupled through orthogonal decomposition. A closed-loop position-force compliant controller is designed to achieve precise integrated control of position, orientation, and force. Tracking experiments involving circular and cardioid trajectories verify that the proposed method can achieve stable position-force control on unknown surfaces and enhances the robustness of the robotic manipulator system.
Keywords: robotic manipulator; adaptive control; compliant control; surface normal tracking; unknown surface
