机器人, 阻抗控制, 参数调整, 模糊控制

This paper introduced an adaptive impedance control of a robot for the arbitrarily inclined planel tracking, it overcomes the problem of force position tracking for the constraint surface with unknown normal direction and uncertainties of the environmental damping and stiffness. The proposed method used the recursive least square algorithm to estimate the environment damping and stiffness during the impact-contact, and achieved the expected attitude adjustment for the robot end-effector based on the difference between the actual and expected contact moment, During the robot end-effector sliding on the inclined plane, a rule self-adjusting fuzzy logic controller was developed to adjust the robot impedance control parameters on-line based on the robot end-effector position and force tracking errors to adapt to the variations of the environmental damping and stiffness.The designed robot force position control method is robust to the changes of the environmental parameters, but the implementation of the algorithm programming is simple. The experiments demonstrate the effectiveness of the approach.