Research on Control Strategy of Manipulator Based on Simulation

Abstract

The force supple control method of robotic arm has been widely researched internationally for many years, and its specific use varies according to the structure of the robotic arm, the location of the sensor, the working space environment, and other factors. Based on the force control principle and control method of the space robot arm, this paper adopts the position-based Cartesian spatial impedance control and proposes an effective forcesmoothing control method after pre-processing the feedback signal of the six-dimensional force sensor installed at the end of the space robot arm with the coordinate system conversion. In addition, the proposed position-based Cartesian spatial impedance control method is modeled and simulated to analyze the effect of each control element on the force-following control effect, to find out the control conditions that can optimize the force-position control effect, and finally to optimize the impedance parameters. This study aims to promote the rapid development of the field of robotic arm control.