摘要
当机械手同刚性环境接触时,机械手力控制难于保持系统的稳定性,这就是机械手力控制动态不稳定性.本文分析了机械手力控制未建模特性:1)机械手驱动电机动态特性,2)力传感器动态特性,3)接触环境的动态特性,4)机械手力控制采样控制延迟等对机械手力控制稳定性的影响.最后给出了仿真及实验研究结果.
The sensing and control of the force or torque of industry robots contacting its environments is one of the focuses of presentday world's robot research. However, robot manipulators in force control mode often become unstable during contact with stiff environments. This is called dynamic instability. Dynamic instability of force control is caused by: 1) the unmodel dynamic of manipulator's servo motors, 2) the unmodel dynamic of force sensors, 3) the stiffness and dynamic of environments, 4) the sampling control delay of computer control. This paper discusses how these causes affect the dynamic stability. Finally the conclusion of simulations and experiments is given.
出处
《机器人》
EI
CSCD
北大核心
1996年第3期173-178,共6页
Robot
关键词
力控制
稳定性
机器人
操作器
Hybrid force and position control, force control, dynamic instability
