未知曲面法向随形的机械臂自适应柔顺控制研究

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LI Yuming，LIUChengpei，XU Zhihao.Research onadaptive compliance controlof robotic manipulators forsurface normal conformity on unknown surfaces[J]. Automation& Information Engineering，2025，46（5）：24-29.

关键词：机械臂；自适应控制；柔顺控制；曲面法向跟踪；未知曲面中图分类号：TP242 文献标志码：A 文章编号：1674-2605（2025）05-0003-06DOI： 10.12475/aie.20250503 开放获取

Research on Adaptive Compliance Control of Robotic Manipulators for Surface Normal Conformity on Unknown Surfaces

LI Yuming1，2LIU Chengpei1XU Zhihao² （1.School ofRail Transportation， Wuyi University， Jiangmen 529020， China 2.Institute of Intelligent Manufacturing， Guangdong Academy of Sciences/ Guangdong Key Laboratory of Modern Control Technology， Guangzhou 51o070， China）

Abstract： Aiming to addressthe challenges offorce control and adaptive posture shaping forrobotic manipulators operating onunknownsurfaces，thispaperproposesaclosed-lopposition-forcecompliantcontrolmethodbasedonimprovedimpedancecontrol. The end-effector's positioncontrol spaceand forcecontrol space are decoupled through orthogonal decomposition.Aclosed-loop position-forcecompliantcontrolerisdsignedtoahievepreciseintegratedcontrolofpositioorientation，andforeacking experiments involvingcircularandcardioidtrajectoriesverifythatheproposedmethodcanachievestableposition-forcecotrolon unknown surfaces and enhances the robustness of the robotic manipulator system.

Keywords： robotic manipulator; adaptive control; compliant control; surface normal tracking; unknown surface

0 引言

近年来，随着机械臂技术的快速发展，其工作空间逐渐扩大，适应性逐步增强[1]。（剩余7484字）