Research on Admittance Control Method of Industrial Robot Based on SMC Strategy

Abstract

Aiming at the problem of compliance control of industrial robot, in order to overcome the influence of unfavorable factors such as nonlinearity and strong coupling of industrial robot system on robot compliance control, so as to improve robot control accuracy and avoid damage to robot or workpiece caused by environmental contact force. Therefore, a robot admittance control method based on sliding mode control (SMC) strategy is proposed in this paper. The dynamic model of the robot with parameter uncertainty is established, and the exponential reaching law sliding mode control method is introduced into the robot admittance controller to improve the flexibility of the robot. Finally, the six-axis robot is simulated by the simulation platform to verify the feasibility and effectiveness of the proposed method.