Position-based impedance control algorithm with variable parameters

In the logistics environment of semi-open narrow aisles, the possibility of contact between robotic arms and personnel and shelves is extremely high, in order to avoid the rigid impact of robotic arms when interacting with the environment, a position-based impedance control algorithm with variable parameter optimization is proposed, which divides impedance control into variable parameter impedance outer loop and sliding-mode control inner loop, and gives full play to the advantages of the supple adaptability of the impedance control and the sliding-mode control’s resistance to environmental disturbances, to Improve the adaptability of the control algorithm to the environment. This paper will be divided into two stages, in the path walking stage, improve the flexibility of the robotic arm to ensure that the robotic arm has a good avoidance ability; in the contact and approach stage, improve the stiffness of the robotic arm to ensure that the robotic arm has a high end position accuracy, to achieve the unity of the end position accuracy and flexibility of the robotic arm.