基于无传感器技术的人机交互变阻抗控制方法
A Variable Impedance Control Method for Human-Robot Interaction Based on Sensorless Technology
DOI: 10.12677/mos.2025.144280, PDF,    科研立项经费支持
作者: 彭佳欣, 王紫薇：上海理工大学光电信息与计算机工程学院，上海
关键词: 人机交互；变阻抗控制；无传感器；轨迹跟踪；Human-Robot Interaction； Variable Impedance Control； Sensorless； Trajectory Tracking
摘要: 为了提高人机交互的精确性和柔顺性，提出了一种基于无传感器技术的人机交互变阻抗控制方法。变阻抗控制的核心在于借助机械臂末端的速度和人机交互的交互力。首先，设计了一个速度控制器提升机械臂末端轨迹跟踪效果；同时，设计了一个补偿力机制来避免传统阻抗控制中交互力的测量。在此基础上，基于速度控制器和补偿力机制，构建了集成控制器，以实现精确的末端执行器轨迹跟踪，同时在线补偿相互作用力。运用李亚普诺夫理论证明，无传感器变阻抗控制下系统稳定。最后，仿真结果验证了基于无传感器技术的人机交互变阻抗控制方法的有效性。
Abstract: To improve the precision and compliance of human-robot interaction, a human-robot interaction variable impedance control method based on sensorless technology is proposed. The core of the variable impedance control is to utilize the velocity of the robot arm’s end-effector and the interaction force in human-robot interaction. First, a velocity controller is designed to enhance the trajectory tracking performance of the robot arm’s end-effector, and a compensation force mechanism is designed to avoid the measurement of the interaction force in traditional impedance control. Based on the velocity controller and the compensation force mechanism, an integrated controller is constructed to achieve accurate trajectory tracking of the end-effector and online compensation of the interaction force. The stability of the system under sensorless variable impedance control is proven using Lyapunov theory. Finally, simulation results verify the effectiveness of the human-robot interaction variable impedance control method based on sensorless technology.
文章引用：彭佳欣, 王紫薇. 基于无传感器技术的人机交互变阻抗控制方法[J]. 建模与仿真, 2025, 14(4): 217-228. https://doi.org/10.12677/mos.2025.144280

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