机械臂的位置与力的混合控制方法
On Hybrid Position/Force Control of Manipulaotrs
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摘要: 本文研究关于机械臂的位置与力的混合控制方法.为了实现混合控制,首先应用一对被 称为"任务规范投影算子"建立了机械臂混合控制的动态方程.在此基础上,提出了两种控制器 的设计方法,一种是计算力矩方法控制器,另一种是动态补偿变结构控制器.后者不但具有更 好的鲁棒性,并且可以分别调整运动与约束力的跟踪精度.Abstract: In this paper, the problem of compliance control of a robot manipulator is studied. To realize hybrid control, the dynamic equations of mamipulators are set up by a couple of what is called "task specification project operators", and two design methods of hybrid position/ force controller are proposed to guarantee accurate tracking of the desired motion and force: one is given by means of the computed torque method and the other is variable structure control. It is shown that robustness has been improved in the latter case.
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