Impedance control based analysis of compliant flange

This paper mainly analyzes the typical compliant flange system and introduces impedance control methods for force tracking. First of all, we establish a compliant system with the internal cylinder of flange, electronic pressure regulator as well as other components, and build the transfer function of the system and verify the stability of the system. Next, we discuss about the model of compliant system when it is in contact with the external environment. According to the actual situation of the compliant system, it can be regarded as a first-order spring model approximately. Then, we analyze the meaning and function of the parameters of the impedance control system, attain some rules to adjust the parameters and validate the previously proposed theory with MATLAB/SIMULINK. Finally, the experimental platform is set up and we input the adjusted parameters into the platform and obtain the results with good response performance and system stability, which proves the accuracy of the analysis on the impedance control and verify the feasibility of the impedance control for the comphant system.