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

1. [1] J. Hou, G. Zhang, H. Chai et al., “Bionic foot robot motion planning and motion control technology review,” Robot Ind., Vol.2023, No.4, pp. 20-28, 2023.
2. [2] L. Yuan, X. Zeng, and X. Tao, “Petrochemical oil hanging rail tunnel inspection robot design research,” Robot Ind., Vol.2023, No.4, pp. 83-88, 2023.
3. [3] Y. Liu, Q. Sun, and H. Li, “Research progress of rehabilitation robotic hand in rehabilitation of hand function after stroke,” Rehabilitation, Vol.37, No.7, pp. 430-434, 2022.
4. [4] M. Zhang and T. Huang, “Geometric Inversion Optimization and Trajectory Planning for Lightweight Bionic Robot Arms,” Machinery, Vol.49, No.6, pp. 73-80, 2022 (in Chinese). https://doi.org/CNKI:SUN:MECH.0.2022-06-011.
5. [5] “The Robot is Working Orderly in Fengyang Silicon Valley Intelligent Company of Chuzhou, Anhui,” Mod. Enterprise, Vol.2022, No.6, p. 185, 2022.
6. [6] C. He, L. Wang, and G. You, “Inspection robot based on machine vision of railway signal equipment room smooth control method,” J. Electr. Design Eng., Vol.30, No.7, pp. 180-184, 2022.
7. [7] Z. Qin, J. Zhao, R. Li et al., “Research on Manual/Bit Hybrid Active Compliance Control of Abrasive Belt Polishing Machine,” Manuf. Autom., Vol.41, No.4, pp. 122-126, 2019.
8. [8] T. Wang, C. Zhang, Q. Chen et al., “Inverse kinematics of redundant manipulator using augmented jacobian matrix,” Science Technology and Engineering, Vol.21, No.16, pp. 6752-6757, 2021.
9. [9] F. Liu and W. Tan, “Kinematics Performance Analysis of Parallel Robot Based on Jacobian Matrix,” J. of Internal Combustion Engine & Parts., Vol.7, pp. 69-70, 2021 (in Chinese). https://doi.org/10.19475/j.cnki.issn1674-957x.2021.07.029
10. [10] F. Kong, P. Lv, H. Wang, and Y. Chang, “Force/Impedance control method of robot in Cartesian space based on passive observer,” Sci. Technol. Eng., Vol.22, No.35, pp. 15675-15680, 2022.
11. [11] L. Li, Z. Gu, and T. Zhang, “Adaptive Vibration Suppression Control for Robot Trajectory Motion in Cartesian Space,” J. of Vibration Engineering, Vol.34, No.3, pp. 499-506, 2019 (in Chinese). https://doi.org/10.16385/j.cnki.issn.1004-4523.2021.03.007
12. [12] L. Guo, “Cartesian space trajectory planning method for serial robot,” Mechanical Design and Manufacturing Engineering, Vol.49, No.10, pp. 34-40, 2020 (in Chinese).
13. [13] C. Wang, G. Ma, Y. Chen et al., “Cartesian Impedance Control of Manipulator in Automatic Assembly Reducer,” Sensor World, Vol.29, No.6, pp. 26-30, 2023 (in Chinese). https://doi.org/10.16204/j.sw.issn.1006-883X.2023.06.005
14. [14] X. Bao, H. Zhang, and S. Zhang, “Research on a New signal Processing Method of Coriolis Mass Flowmeter,” Industrial Control Computer, Vol.36, No.9, pp. 86-88+128, 2023 (in Chinese). https://doi.org/CNKI:SUN:GYKJ.0.2023-09-033
15. [15] S. Ma, Z. Hou, Z. Jiao et al., “Visualizing the coriolis effect on moving objects by numerical simulation based on python,” Physics and Engineering, Vol.33, No.2, pp. 81-87, 2023 (in Chinese).
16. [16] S. Li, P. Tan, and H. Ma, “Study on the applicability of motion equation and damping matrix of foundation isolation structure in dynamic response analysis.”
17. [17] X. Wu, Y. Jiao, and Z. Chen, “Establishment of Contact Stiffness Matrix and Dynamic Characteristics Analysis of Tie Rod Rotor-Bearing-Seal System,” J. of Vibration Engineering, Vol.35, No.6, pp. 1311-1320, 2022.
18. [18] Y. Han, H. Li, J. Liu et al., “Research on UAV Simulation Control Based on ROS,” Modern Information Technology, Vol.7, No.20, pp. 75-79+83, 2023 (in Chinese). https://doi.org/10.19850/j.cnki.2096-4706.2023.20.016
19. [19] J. Zhao, Q. Qiu, S. Si, D. X. Leng, and H. Li, “Mechatronic-Hydraulic Integration Simulation of Three-DOF Industrial Machine Platform,” Mach. Tool Hydraul., Vol.48, No.7, pp. 156-161, 2020 (in Chinese). https://doi.org/10.3969/j.issn.1001-3881.2020.07.035
20. [20] L. Liu, W. Jin, and H. Wang, “Based on STM32 automatic tennis picking robot design,” J. Nanjing Inform. Eng. Univ. (Natl. Sci. Ed.), Vol.12, No.5, pp. 609-613, 2020.