摘要
本文研究当机器人动力学模型中含有未知惯性参数时机器人适从运动的混合控制．利用螺旋理论将与环境接触时的机器人动力学方程分成两个螺旋方程后，提出了一种运动和力的自适应混合控制规律．该规律直接利用自然约束和人工约束。
In this paper, the robot manipulator dynamic equation in the case of contacting with environments is disposed into two screw equations by using screw theory. Then an adaptive hybrid motion/force controller is given in the case of the model of robot manipulators being unknown. The controller makes use of natural constraints and artificial constraints directly,and makes motions and forces converge their desired values respectively. The simmulation results show that it is effective.
出处
《机器人》
EI
CSCD
北大核心
1996年第4期212-216,共5页
Robot
关键词
螺旋理论
混合控制
自适应控制
机器人
Robot control,screw theory, compliant control,hybrid motion/force control,adaptive control
