基于自适应边界能量法的柔顺力控制研究

阻抗控制方法是有效的机器人接触控制方法，但是该方法只能在预估的环境参数范围内保证系统的稳定性。针对这一问题，该文提出一种新的自适应边界能量（Energy Boundary Method-EBM）方法，通过在线估计控制参数提高系统整体性能，保证系统的稳定性。在该控制方法下，系统在与超出预估范围内的不确定环境相接触时，仍可保持期望的稳定接触力，同时具备较强的鲁棒性。为证实该方法的可行性及有效性，以气液联控柔顺力控制系统为例，进行理论及仿真研究，理论性能及仿真结果分析证明了该方法的有效性。

Compliant Control Research Based on Adaptive Energy Bounding Method

Impedance control is an effective method to deal with contact task of robot, but this method can only guarantee the stability of system for assumed range of environments. Aiming at this problem, this paper proposes a new adaptive energy boundary method (EBM), which improves system performance by on-line estimation of control parameters, and guarantees the stability of system. Under the control method, the system can keep expected contact force stably, and have strong robustness when contact with uncertain environment. To verify the effectiveness of the proposed method, theoretical and simulation researches are conducted to pneumatic hydraulic combination compliant control system, which prove the effectiveness of the method.