Parameters identification and contact interaction control of redundant robot based on dynamic model

Abstract

Human-redundant robot contact interaction control based on joint current is conducted. This is a sensorless control method. The key issues involved are dynamic parameters identification and interaction control strategy of robot. Firstly, kinematics model and linear dynamic model of robot are established and dynamic parameter matrix to be identified is obtained. Pattern search method is adopted to optimize motion trajectory of robot. The least square method is used to obtain dynamic parameters. The results indicate that the calculated current has a consistent trend with actual measured value, and the current error is small. In order to achieve independent control in null space, motion decoupling model of robot is established, and impedance control is applied to null space. When the force is applied to robot, based on impedance control and joint current changes, robot can move along the force direction, so the motion in null space can be controlled. Aiming at null space contact control during end force control task, comprehensive interaction control based on force sensor and joint current is conducted. The results show that robot can also move in compliance with human hand and achieve compliant interaction of null space when force is applied to the joint space.