Experimental Study of Force Control Based on Intelligent Prediction Algorithm in Open Architecture Robot System

摘要

In this paper an intelligent prediction algorithm for robot force control is reviewed. The algorithm is not only applied to impedance controller, but also hybrid position/force controller. The experimental platform with open architecture controller is developed to test the force tracking effect when the environmental change in curvature and stiffness is taken into account. Using the system an easily open architecture is achieved in hardware and software, which is able to deal with the implementation of force tracking tasks of unknown contact environment performed by robot manipulators. The force tracking experiments for the irregular surface in different control model, different tracking velocity, different desired force, different contact stiffness are executed. The comparative experimental results show validity of the proposed method.