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 2 装配过程中不同算法的接触力和力矩平均误差

Tab.2 Average error of contact force and torque of different algorithms in assembly process

算法 eAEF,X/N eAEF,Y/N eAEF,Z/N eAEF,A/(N·m) eAEF,B/(N·m) 阻抗 1.707 0.742 2.620 0.399 0.910 自抗扰阻抗 0.644 0.431 0.954 0.220 0.459 改进型自抗扰 0.563 0.315 0.649 0.158 0.404