基于自抗干扰的装配机器人阻抗控制技术

张世玉,陈东生,宋颖慧

Impedance control technology of assembly robot based on active disturbance rejection

Shi-yu ZHANG,Dong-sheng CHEN,Ying-hui SONG

表 1 轴孔装配过程中3种算法在各方向的阻抗参数

Tab.1 Impedance parameters of three algorithms in all directions during peg-in-hole assembly

方向 md bd kd X、Y 5 100 0.1 Z 30 200 0.2 A、B 10 300 0.1