Application of Impedance Control Based on Multi-Subgroup Improved Marine Predator Algorithm In Compliance Control of Robotic Arms

Impedance control is widely used as a main method to achieve active compliance control. However, the determination of impedance parameters mostly relies on empirical adjustments. The multi-subpopulation improved marine predator algorithm has higher optimization accuracy, stability, and ease of implementation compared to other swarm algorithms. Therefore, the multi-subpopulation improved marine predator algorithm is selected to determine and optimize the impedance parameters. Simulation results show that the optimized impedance control algorithm can better achieve the compliance control effect of the manipulator and has good robustness.