关键词: 机械臂, 加速度, 接触力, 控制, 柔性关节

Abstract: There exists the problems of impact, vibration and even instability when flexible joint manipulator transition from free space movement to constraint space contact force control. Acceleration sensor - based feedback control is used to enhance the active damping in higher bandwidth for the contact force control of the flexible joint manipulator, and the narrow bandwidth limitation of only using velocity feedback control is overcome, The contact force control of the flexible joint manipulator system is modeled, and acceleration based control strategy is analyzed, The experiment of contact force control for flexible joint manipulator is carried out, The results prove the effectiveness of the presented method.

Key words: Control, Flexible joint Manipulator Acceleration Coniact force