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A New Impedance Control Method for End Effector Manipulator of Autonomous Unmanned System

This paper proposes an improved fractional proportional-integral-differential (PID) impedance control method with dynamic parameters for the end effector manipulator of autonomous unmanned system. It can conduct versatile manipulating tasks which have great potential application. Force and position sensors are used for compliance control in collision situations. The proposed method makes the action of the robot smooth in a changing environment of the autonomous unmanned system’s tasks. The trajectory of the robot changes when touching obstruct because of the force restriction. A new variable selection parameter matrix S is designed to merge the impedance control and the admittance control. Fractional PID controller is also added to modify the dynamic property. Comparing with the PID and traditional impedance controllers, our method improves the tracking accuracy with less vibration. The simulations show the robot moves smoother and batter force tracking than PID and impedance controllers.