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IJAT Vol.18 No.2 pp. 295-301
doi: 10.20965/ijat.2024.p0295
(2024)

Research Paper:

Compliant Control Technology of Manipulator

Xuan Wang, Guodong Li, Hua Yu, and Zhigang Xue

State Grid Shanxi Electric Power Research Institute
No.6 Qingnian Road, Yingze District, Taiyuan City, Shanxi 030001, China

Corresponding author

Received:
September 14, 2023
Accepted:
December 6, 2023
Published:
March 5, 2024
Keywords:
manipulator, compliant control, rheostatic control
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

Cite this article as:
X. Wang, G. Li, H. Yu, and Z. Xue, “Compliant Control Technology of Manipulator,” Int. J. Automation Technol., Vol.18 No.2, pp. 295-301, 2024.
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Last updated on Apr. 05, 2024