Active Compliance Control of a Position‑Controlled Industrial Robot for Simulating Space Operations

摘要

An industrial robot with a six-axis force/torque sensor is usually used to produce a zero-gravity environment for testing space robotic operations.However,using traditional force control methods,such as admittance control,causes position-controlled industrial robots to undergo from force divergence owing to intrinsic time delay.In this paper,a new force control method is proposed to eliminate the force divergence.A hardware-in-the-loop(HIL)simulator with an industrial robot is first presented.The free-floating satellite dynamics and the motion mapping from the satellites to simulator are both established.Thus,the effects of measurement delay and dynamic response delay on contact velocity and force are investigated.After that,a real-time estimation method for contact stiffness and damping is proposed based on the adaptive Kalman filter.The measurement delay is compensated by a phase lead model.Moreover,the identified contact parameters are adopted to modify contact forces,and thus the dynamics response delay can be compensated for.Finally,a co-simulation and experiments were conducted to verify the force control method.The results show that contact stiffness and damping could be identified exactly and that the simulation divergence could be prevented.This paper proposes an active compliance control method that can deal with force constrained tasks of a position-controlled robot in unknown environments.