基于关节优先级的冗余机械臂柔顺控制方法

针对冗余机械臂柔顺控制过程中某些关节运动可能超出安全范围导致安全事故的问题，提出一种基于关节优先级的冗余机械臂柔顺控制方法。此方法通过雅可比矩阵的加权广义逆矩阵与阻抗控制中机械臂的末端速度相结合，计算出关节角度增量，并对关节角度进行迭代更新。在机械臂运动过程中，为减小超限关节的角度增量，将相应关节设置较小的关节优先级，将超限关节角度变化保持在安全范围内。最后使用一种八自由度的冗余机械臂进行柔顺控制实验验证。结果表明：将相应关节设置较小优先级后，该关节角度增量减小，证明了该柔顺控制方法的可行性和有效性。

A Compliant Control Method of Redundant Manipulator Based on Joint Priority

Aiming at the problem that some joint movements exceed the safety range and lead to safety accidents in the compliance control process of redundant manipulator, a compliance control method of redundant manipulator based on joint priority was proposed. In this compliance method, the joint angle increment was calculated by combining the weighted generalized inverse matrix of Jacobian matrix with the end velocity of manipulator in impedance control, and the joint angle was updated iteratively. During the movement of the manipulator, in order to reduce the angle increment of the overrun joint, the corresponding joint was set with a smaller joint priority to keep the angle change of the overrun joint within a safe range. Finally, an 8-DOF redundant manipulator was used to make compliance control experiment. The results show that the angle increment of the joint decreases after setting the corresponding joint to a smaller priority, which proves the feasibility and effectiveness of the compliance control method.