Calibration of Closed Loop Controllers for Setting Impedances in Force-Reflecting Systems
Calibration of Closed Loop Controllers for Setting Impedances in Force-Reflecting Systems
复制标题
用于设置力反射系统阻抗的闭环控制器校准
DOI：
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发表时间：
1996
期刊：
影响因子：
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通讯作者：
W. Harwin
中科院分区：
文献类型：
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作者：
V. Jayachandran;T. Rahman;M. Salganicoff;E. Heredia;W. Harwin
本文讨论了一种新的阻抗控制方法，已成功地实现了遥操作系统的主机器人。该方法涉及校准机器人，以量化可调控制器参数对沿沿着其不同轴的阻抗的影响。通过对机器人各轴沿着进行系统辨识试验，得到了末端执行器阻抗与控制器反馈增益之间的经验关系式。利用这些方程，可以在线控制末端执行器的刚度和阻尼，而无需监测关节扭矩或求解复杂的算法。硬接触条件和顺应性接口已被有效地证明在远程操纵试验台上使用适当的组合，通过这种方法获得的刚度和阻尼设置。由于该方法是一般性的，并可用于寻找系统的可控参数和可量化的输出行为之间的可能的关系，它可以扩展到校准和控制阻抗模型不佳的机器人致动器系统。这种方法的一个局限性是被建模的致动器必须具有非常小的摩擦。
This paper discusses a new method of impedance control that has been successfully implemented on the master robot of a teleoperation system. The method involves calibrating the robot to quantify the effect of adjustable controller parameters on the impedances along its different axes. The empirical equations relating end-effector impedance to the controller’s feedback gains are obtained by performing system identification tests along individual axes of the robot. With these equations, online control of end-effector stiffness and damping is possible without having to monitor joint torques or solving complex algorithms. Hard contact conditions and compliant interfaces have been effectively demonstrated on a telemanipulation test-bed using appropriate combinations of stiffness and damping settings obtained by this method. Since the method is general in nature and can be used for finding possible relations between controllable parameters and quantifiable output behaviour of a system, it can be extended to calibrating and controlling impedances in poorly modeled robot-actuator systems. A limitation of this method is that the actuator being modeled must have very little friction.