SUMMARYImpedance control is one of the interaction and force control methods that has been widely applied in the research of robotics. In this paper, a new position-based fractional-order impedance control scheme is proposed and applied to a 2 DOF serial manipulator. An RR robot manipulator with full arm dynamics and its environment were designed using Matlab/Simulink. The position control of the manipulator was utilized based on computed torque control to cancel out the nonlinearities existing on the dynamic model of the robot. Parameters of classical impedance controller (CIC) and proposed fractional-order impedance controller (FOIC) were optimized in order to minimize impact forces for comparison of the results in three conditions. In CIC condition: three constant parameters of the impedance controller were optimized: in Frac_λμ condition: Only non-integer parameters of the FOIC were re-optimized after the parameters in CIC had been accepted, and in Frac_all condition: all parameters of the FOIC were re-optimized. In order to show the effectiveness of the proposed method, simulations were conducted for all cases and performance indices were computed for the interaction forces. Results showed that impacts were reduced with an improvement of 26.12% from CIC to Frac_ λμ and an improvement of 47.21% from CIC to Frac_all. The proposed scheme improves the impedance behavior and robustness showing better impact absorption performance, which is needed in many challenging robotic tasks and intelligent mechatronic devices.

中文翻译：

---

2自由度串行机械臂基于位置的分数阶阻抗控制

摘要阻抗控制是一种在机器人研究中得到广泛应用的相互作用和力控制方法。本文提出了一种新的基于位置的分数阶阻抗控制方案，并将其应用于2自由度串行机械臂。使用 Matlab/Simulink 设计了具有全臂动力学及其环境的 RR 机器人机械手。机械手的位置控制基于计算扭矩控制来消除机器人动力学模型中存在的非线性。对经典阻抗控制器 (CIC) 和建议的分数阶阻抗控制器 (FOIC) 的参数进行了优化，以最小化冲击力，以比较三种条件下的结果。在 CIC 条件下：阻抗控制器的三个常数参数被优化： 在 Frac_λμ 条件下：在接受 CIC 中的参数后，仅重新优化 FOIC 的非整数参数，并且在 Frac_all 条件下：重新优化 FOIC 的所有参数。为了显示所提出方法的有效性，对所有情况进行了模拟，并计算了相互作用力的性能指标。结果表明，影响减少，从 CIC 到 Frac_λμ 提高了 26.12%，从 CIC 到 Frac_all 提高了 47.21%。所提出的方案改善了阻抗行为和鲁棒性，表现出更好的冲击吸收性能，这是许多具有挑战性的机器人任务和智能机电一体化设备所需要的。为了显示所提出方法的有效性，对所有情况进行了模拟，并计算了相互作用力的性能指标。结果表明，影响减少，从 CIC 到 Frac_λμ 提高了 26.12%，从 CIC 到 Frac_all 提高了 47.21%。所提出的方案改善了阻抗行为和鲁棒性，表现出更好的冲击吸收性能，这是许多具有挑战性的机器人任务和智能机电一体化设备所需要的。为了显示所提出方法的有效性，对所有情况进行了模拟，并计算了相互作用力的性能指标。结果表明，影响减少，从 CIC 到 Frac_λμ 提高了 26.12%，从 CIC 到 Frac_all 提高了 47.21%。所提出的方案改善了阻抗行为和鲁棒性，表现出更好的冲击吸收性能，这是许多具有挑战性的机器人任务和智能机电一体化设备所需要的。