Dual-Sensor Based Hybrid Impedance Regulation for Robotic Joint Compliance

In order to eliminate factors such as friction and non-linearity in flexible joints, this paper proposes a control method based on dual torque sensors to study the joints. Fit the dynamic parameters of the joint through the frequency sweep method, analyze the force on the torque sensor installed inside the joint, and propose an LMS adaptive filtering algorithm to eliminate noise. Then design compensation using the difference between torque sensors, DOB, and impedance control methods to control the joint; Among them, torque compensation is used to eliminate factors such as friction in joints, DOB is used to eliminate friction on the motor side, and impedance control is used to enable better compliant interaction between joints, optimizing the coordinated control of force and position. Finally, experiments were conducted on the self-developed experimental platform of our team, and compared to other torque compensation methods, the results showed that the proposed method has better flexibility.