Impedance control method and system for light cooperative mechanical arm joint

The invention discloses an impedance control method and system for a light cooperative mechanical arm joint, relates to the field of mechanical arm joint control, and aims to solve the problem that in the prior art, the rigidity of a speed reducer and a torque sensor is not infinite and is limited, so that the motion precision of the mechanical arm joint is reduced. The method is suitable for high-precision motion control of a joint in a barrier-free space and compliance control when the joint is blocked by a barrier, and control laws do not need to be switched; according to the invention, the influence of elasticity of the joint harmonic reducer and the torque sensor is overcome, and accurate adjustment of the joint rigidity is realized. 一种轻型协作机械臂关节的阻抗控制方法及系统，涉及机械臂关节控制领域，针对现有技术中减速器和力矩传感器的刚度并非无穷大，减速器和力矩传感器的刚度受限，进而降低了机械臂关节的运动精度的问题，本申请同时适用于关节在无障碍空间的高精度运动控制和有障碍物阻挡时的柔顺控制，无需切换控制律；本申请克服了关节谐波减速器和力矩传感器的弹性的影响，实现了关节刚度的精确调整。