机械臂阻抗控制与仿真研究

机械臂阻抗控制与仿真研究

Manipulator impedance control and simulation

高添泉* 乔枫 周旋 赵雨

沈阳建筑大学 信息与控制工程学院 辽宁 沈阳 110168

摘要: 本文利用阻抗控制算法对机械臂力/位置控制问题进行了研究。为解决机械臂末端执

行器与环境间的接触力控制与机械臂关节轨迹的控制受机械臂动力学不精确所影响的问题，

本文利用中的 Simulink/SimMechanics 模块建立了机械臂仿真模型，以减少机械臂动力学模

型建模的复杂过程和因各种不同原因导致的建模不精确的问题，同时应用阻抗控制算法解决

力/位置控制问题。在本文最后，应用Simulink/SimMechanics 构建了两连杆机械臂仿真模型，

并利用所设计的阻抗控制方法进行了机械臂力/位置阻抗控制仿真研究。仿真结果表明，所

构建的机械臂仿真模型能够真实地再现机械臂的动态特性，所设计的阻抗控制方法能够有效

地实现机械臂的力/位置控制。

关键词：Simulink/SimMechanics ；阻抗控制；机械臂；仿真研究

Abstract : The force/position control issue of robotic manipulator was investigated in this paper

with the impedance control algorithm to solve the control problem of contact force between the

end-effector and the environment and the joint trajectory tracking under the condition of

inaccurate dynamic model of the robotic manipulator. The simulation model was established, in

this paper, with module of Simulink/SimMechanics in Matlab, which reduced the influence of

model inaccuracy during the complex modeling process and other effects, and also the impedance

control strategy was employed to deal with the force/position control. A two-joint robotic

manipulator was established with Simulink/SimMechanics, and simulation studies were carried

out with the designed impedance control algorithm for the force/position control. The simulation

results showed that the simulation model established can truly imitate the performance of the

robotic manipulator, and the designed control algorithm can realize force/position control of the

robotic manipulator effectively and efficiently.

Keywords: Simulink/SimMechanics; Impedance Control; Robotic Manipulator; Simulation Study

1.引言

随着机械加工及制造业的快速发展，工业机器人在各个领域的应用越来越广泛，所完

成的工作也越来越复杂，单一机械臂位置控制已经无法满足工业生产的需求。例如，在抛光、

打磨和去毛刺等生产过程中，需要在控制机械臂末端位置的同时控制机械臂末端与作业环境

接