2025年01期 v.46 41-46页

叶鹏程1  毛世鑫2  张一超3

（1.广东工业大学机电工程学院，广东 广州 510006 

2.九天创新（广东）智能科技有限公司，广东 佛山 528299 

3.工业和信息化部电子第五研究所，广东 广州 511370）

摘要：传统的操作臂力跟踪控制主要通过末端六维力传感器和力位混合控制方法实现，难以适应不确定环境，易产生力跟踪误差、超调等问题。为此，提出一种基于关节外力估计的操作臂自适应力跟踪方法。首先，设计一种结合广义动量和卡尔曼滤波器的扰动卡尔曼外力观测器（DKF），用于估计接触力；然后，提出自适应变导纳力跟踪方法，根据力误差自动调节导纳参数，减小力跟踪误差，提高系统的稳定性。经仿真实验验证：该文提出的DKF相较于广义动量观测器，估计误差降低约20%；自适应变导纳力跟踪方法降低了超调力，力跟踪误差降低约27%，对不确定环境有较强的适应性。

关键词：操作臂；外力估计；力跟踪控制；扰动卡尔曼外力观测器；导纳控制

中图分类号：TP242.2          文献标志码：A           文章编号：1674-2605(2025)01-0006-06

DOI：10.3969/j.issn.1674-2605.2025.01.006                     开放获取

Adaptive Force Tracking Method of Manipulator Arm Based on          Joint External Force Estimation

YE Pengcheng1  MAO Shixin2  ZHANG Yichao3

(1.School of Mechanical and Electrical Engineering, Guangdong University of Technology, Guangzhou 510006, China  2.Nine Days Innovation (Guangdong) Intelligent Technology Co., Ltd., Foshan 528299, China       3.Fifth Electronics Research Institute, Ministry of Industry and Information Technology, Guangzhou 511370, China)

Abstract: Traditional manipulator arm force tracking control is mainly achieved through end six axis force sensors and force position hybrid control methods, which are difficult to adapt to uncertain environments and prone to problems such as force tracking errors and overshoot. Therefore, a method for tracking the adaptive force of a manipulator arm based on joint external force estimation is proposed. Firstly, design a disturbance Kalman force observer (DKF) that combines generalized momentum and Kalman filter for estimating contact force; Then, an adaptive variable admittance force tracking method is proposed, which automatically adjusts the admittance parameters based on the force error, reduces the force tracking error, and improves the stability of the system. Through simulation experiments, it has been verified that the DKF proposed in this paper reduces the estimation error by about 20% compared to the generalized momentum observer; The adaptive variable admittance force tracking method reduces overshoot force, reduces force tracking error by about 27%, and has strong adaptability to uncertain environments.

Keywords: manipulator arm; external force estimation; force tracking control; disturbance Kalman external force observer; admittance control