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This paper shows the implementation of an impedance control method to regulate the interaction forces between a robotic arm and the environment,when there is connect between them. A complete description of the system to model and control both an RR robot arm and its interaction with the environment is simulated and detailed by Matlab/Simulink; from the generation of a mechanical model in SimMechanics (Matlab) after export its 3D drawing. The description and setting of a dynamic model based on computed torque control, to cancel out the nonlinearities existing on the dynamic model of the robot. It is based on feedback linearization and computes the required arm torques using the nonlinear feedback control law, and lastly control of the reaction forces is done using the impedance control method after modeling the environment. This type of control modifies the dynamic behavior of the robot when there is contacting with the environment and it is widely used in industrial robots.
International Conference on Advanced Technologies, Computer Engineering and Science
ICATCES
Ali Alshawi
Selcuk Kizir