基于迭代学习的机械手操作空间力/位置混合控制算法
Hybrid Force/Position Control of Robot Manipulators Based on Iterative Learning
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摘要: 基于对常规机械手操作空间力/位置混合控制算法的简单回顾,及对该算法所遇到 困难的分析,提出了一种基于迭代学习的机械手操作空间力/位置混合控制算法,来改善机械 手同高刚度环境接触时,机械手力/位置混合控制的动态控制性能．给出了学习算法的收敛条 件及其证明.实验表明该算法具有快速的收敛性,能达到很高的力/位置动态控制精度.Abstract: By analyzing the difficulties of the conventional force/position hybrid control algorithm in applications, this paper presents a new operational space control algorithm of hybrid force/position control based on iterative learning to improve the dynamic force control performance of robot manipulators of contacting with high stiffness environment. The proof of the algorithm convergence is given. Experiments show the validity of the new algorithm. It converges rapidly and can acquire high-precision force/position dynamic control performance of robot manipulators.
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