摘要

This paper presents an adaptive impedance control method based on Kalman filter to write Chinese characters for industrial manipulator. Kalman filter is used to estimate the actual contact force. For safety, the contact force is controlled to maintain constant using the adaptive impedance control method. There is no need for the knowledge of the environment. A robot Chinese characters writing system is designed to write characters on a stiff board. The writing experiment results verified the performance of the proposed method, and the trajectory and force can be tracked simultaneously.