摘要
本文研究了理想情形下一类机器人适从运动的混合控制。对于一个机械臂手端与刚性环境发生光滑接触的类型,本文给出了一种约束描述,并进行分析。在此基础上,通过将控制变量分成两个分属于相互垂直的子空间的控制:力控制和运动控制,将机械臂动力学方程分裂成两个。一个用于力控制,另一个用于运动控制。从而对混合控制的思想有了更好的理解,使力控制和运动控制的设计能单独分别进行,为寻找混合控制提供了简便途径。
A hybrid control strategy for a class of compliant motions of robot manipulators is investigated. A description and analysis of constraints are given for the ideal case where the end-effector of a single robot manipulator is in contact with rigid environments. After this,control variables are decomposed into two parts,each of which belongs to one of two mutually vertical and complementary subspaces,respectively,such that the dynamic equations of the robot arm can be split into two corresponding groups:one is used for force control and the other for motion control. Consequently, the idea behind the hybrid control strategy is revealed. As a result,the design of hybrid control laws can be carried out in a simple way,i. e. force controller and motion controller can be separately designed.
出处
《北京航空航天大学学报》
EI
CAS
CSCD
北大核心
1991年第2期105-110,共6页
Journal of Beijing University of Aeronautics and Astronautics
基金
航空科学基金
关键词
适从运动
混合控制
机器人
Compliant motion,hybrid control,decomposed control.
