Research on Dynamic Analysis and Impedance Control of B-Ultrasound Detection Robot

In order to achieve constant force control during B-ultrasound robot detection, a six-dimensional force sensor is installed at the end of the robot arm to directly measure force and torque. Then, the dynamic parameter identification of the manipulator was studied and verified, and the position-based impedance control model was simulated to analyze the control performance and parameter influence. Moreover, Simulink simulation frameworks of B-ultrasound robot were built to verify the impedance algorithm. The simulation results demonstrate that the impedance control algorithm can effectively track the constant force and improve the position control accuracy of the system.