This study presents a method for extracting the actual interaction force from a force sensor signal by measuring the gravity of the end-effector. The variable impedance control problem of commercial industrial robots is studied, to investigate the uncertain contact impedance characteristics between the human palm and a robot end-effector in the physical human-robot interaction process. A speed-based variable impedance adaptive interaction control method is proposed. The damping parameters of the admittance controller are adaptively adjusted according to the interactive force tracking error. The desired speed of the robot is also given, which is tracked in the Cartesian space speed mode of a Stäubli TX-90 robot to achieve interactive force control. An experimental comparison is made between the control strategies of the constant impedance and adaptive variable impedance. The experimental results show that the proposed method is effective.

这项研究提出了一种通过测量末端执行器的重力从力传感器信号中提取实际相互作用力的方法。研究了商用工业机器人的可变阻抗控制问题，以研究人机交互过程中人手与机器人末端执行器之间不确定的接触阻抗特性。提出了一种基于速度的可变阻抗自适应交互控制方法。导纳控制器的阻尼参数根据交互作用力跟踪误差进行自适应调整。还给出了机器人的期望速度，该速度在史陶比尔TX-90机器人的笛卡尔空速模式下进行跟踪，以实现交互式力控制。在恒定阻抗和自适应可变阻抗的控制策略之间进行了实验比较。实验结果表明，该方法是有效的。