固高运动控制卡教程_基于固高运动控制卡的关节阻抗控制设计

Joint Impedance Control Based on Googol Motion Control Card

WU Qiqi

1

武琦琦(1995-)，男，硕士研究生，主要研究方向：力控制，阻抗控制

TIAN Mengqian

1

田梦倩(1972-)，女，副教授、硕导，主要研究方向：机电控制及自动化，测试计量技术及仪器

1、School of Mechanical Engineering,Southeast University,Nanjing 211189

Abstract：In order to improve the robot\'s better interaction with the external enviroment,it is an important method to design the control algorithm based on the existing position control robot. The kinematics calculation method of the SCARA robotic manipulator introduced. The geometric Jacobian matrix is derived by the vector product method, which provides the basis for the calculation of the external force into the joint. Combined with the characteristics of motion control card, the control method based on joint impedance control is introduced. The specific method based on posion and velocity command is designed and the appropriate filter is selected for this calculation to filter and experimentally verified. Experiments show that the algorith of joint impedance using motion contriol card is reasonble.