Compliant Control Technology of Manipulator

Abstract

With continuous advancements in science and technology, manipulators have been widely used in human–computer interactions and other fields. However, they are limited by their insufficient flexible interaction ability and the inability of the control algorithm to adapt to changeable task scenarios. In this study, the flexible control technology of a manipulator was investigated to overcome these shortcomings and improve the intelligent level of the manipulator. Specifically, the basic principles and related technologies were applied in developing a dynamic model and analyzing the impedance control technology. Next, the effects of different impedance parameters on the system response characteristics were analyzed. Finally, the simulation experiment was conducted. The results showed that within 15–35 s, the manipulator returned to the target trajectory and continued to complete two rotations of circular trajectory, and the position control was accurate. This study demonstrates the feasibility of rheostatic control of fuzzy impedance in improving the compliance strength of the manipulator