摘要
对基于两自由度机器人的人机合作搬运系统进行研究,将人给出的力信息通过阻抗模型转换为机器人位置控制信息,并对系统进行建模和仿真,仿真结果表明机器人能很好地与人合作沿直线搬运物体。
Human-robot cooperation system based on 2-dof robot was researched. The force information of human was converted to the position control information of the robot by using impedance model. The system modeling and simulation were discussed. The simulation results show that the robot can follow the human＇s action friendly.
出处
《机床与液压》
北大核心
2010年第7期117-119,共3页
Machine Tool & Hydraulics
