Application of Impedance Control for a Robotic Manipulator Based on Particle Swarm Optimization Algorithm

Impedance control strategy is one of the most important methods for the force and compliance control of robotic manipulators. However, it is difficult to obtain impedance parameters due to the absence of versatile algorithms. According to the structure of Cartesian impedance control based on force feedback, Particle swarm optimization (PSO) algorithm is employed to determine and optimize the impedance parameters via taking advantage of its concision, feasibility and robustness. In addition, the PSO algorithm is improved to some extent in the characteristics of impedance control. Finally, the robustness performance of the optimized impedance control strategy is verified via simulation of compliance control of a 7 DOF (degreeoffreedom) robotic arm.