摘要
基于位置的阻抗控制以位置控制为基础,将它作为整个控制器的内环,附加的外环是阻抗力控制器,其控制效果的好坏取决于位置控制器的精确程度。将轨迹跟踪控制算法构建的位置控制器作为控制内环,同样阻抗参数下,增加了控制的稳定性和柔顺性,减小了超调和跟踪阶段的误差。并给出了基于H IT/DLR灵巧手手指基关节力矩传感器的阻抗控制的实验效果。
The effect of the position based impedance control（PBIC） system is greatly due to the precision of the inner position controller, and the outer force feedback loop is used to modify the reference position in order to keep the target impedance relationship. Taking the tracking controller as the inner loop of PBIC can enhance the stability and compliance of the system, and can minish the overshoot and tracking error of the system, with the same parameters. There is the experiment result of impedance control of the single finger of HIT/DLR dexterous hand based on joint torque sensor.
出处
《传感器与微系统》
CSCD
北大核心
2008年第7期66-68,74,共4页
Transducer and Microsystem Technologies
基金
国家自然科学基金资助项目(60675045)
