基于分段自适应的机械臂力/位混合控制

The requirements for the compliant control quality of the space manipulator are continuously improved in space manipulation tasks. Using a single control method is likely to cause large end contact force overshoot or dynamic deviation. This study proposes and implements a force/position hybrid control approach based on staged adaptation, which combines the advantages of adaptive impedance and adaptive admittance control systems. The method realizes separate control of force and position according to space and calculates the joint control torque based on the superposition of expected terminal acceleration in subspace. Because the expected force and the contact force are both 0 in the position space control, the same result as the adaptive control method can be obtained by directly using PD control. Adaptive admittance control is used in the force space control to realize the rapid transition from the initial position to the target position, and adaptive impedance control is used to realize the high-precision and stable control of the end when approaching the target position. The simulation results show that compared with the single use of adaptive impedance or adaptive admittance control, the contact force overshoot and dynamic deviation are smaller when the staged adaptive force/position hybrid control method is adopted, and the whole process control quality is better.