【摘要】 针对施工中挖掘机器人出现的力冲击及振动等问题，提出了挖掘机器人柔顺作业与自适应阻抗控制策略。分析了电液伺服系统的组成和基本特性，建立了挖掘机器人铲斗齿尖与环境接触的动态模型；基于力的跟踪误差实时调整挖掘机器人的期望齿尖位置，间接调整阻抗参数，减少了柔顺控制系统对环境位置和刚度参数的依赖，构建了一种新型挖掘机器人自适应阻抗控制策略。仿真结果表明：相比较于传统阻抗控制方法，所提方法实现了恒定力和动态力的精准跟踪，提高了挖掘机器人作业的稳定性和柔顺性。更多还原

【Abstract】 A flexible operation and adaptive impedance control strategy for robotic excavator is proposed to address issues such as force impact and vibration during construction. First, the composition and fundamental characteristics of the electro-hydraulic servo system are analyzed, and a dynamic model of the interaction between the robotic excavator’s bucket tooth tip and the environment is established. Next, based on the force tracking error, the expected position of the robotic excavator’s tooth tip is adjusted in real time, which indirectly modifies the impedance parameters. This approach reduces the reliance of the compliant control system on environmental position and stiffness parameters, leading to the development of a new adaptive impedance control strategy for robotic excavator. The simulation results demonstrate that, compared to traditional impedance control methods, the strategy proposed achieves precise tracking of both constant and dynamic forces, thereby enhancing the stability and flexibility of robotic excavator operations.更多还原