Performance Optimization Method of Variable Impedance Controller Based on Particle Swarm Optimization

To solve the problem that traditional variable impedance controllers do not consider the initial parameter setting, a parameter optimization method of variable impedance controller based on particle swarm optimization algorithm was proposed. Firstly, the equation of impedance control is established, and then the stability of the discrete system is analyzed by using Rouse criterion. The Simcape model of UR5 manipulator is built on Matlab simulation platform, and the impedance controller based on particle swarm optimization algorithm is designed. Finally, the experiment is carried out on the real object of UR5 manipulator. Simulation and experimental results show that the proposed method is feasible.