摘要
报导了用于机器人多指灵巧手的精密微型直线驱动器 ,它体积小、输出力大。建立了该驱动器的数学模型 ,并且基于滑模变结构控制理论设计了微型直线驱动器的位置控制策略。实验结果证明 ,该控制方案具有良好的鲁棒性和快速性。
A miniature linear actuator for the multifingered dexterous robot hand was reported, it is small, but takes on great output force. The mathematical model of the linear actuator was built. A position control strategy for the miniature linear actuator was designed based on the theory of the sliding mode variable structure control Experiment result shows that this control scheme effectively improves the robustness and dynamic response.
出处
《高技术通讯》
EI
CAS
CSCD
2001年第5期85-87,94,共4页
Chinese High Technology Letters
基金
863计划资助项目 ( 863 5 12 992 4 0 3 )。
关键词
机器人灵巧手
滑模控制
直线驱动器
数学模型
Dexterous robot hand, Sliding mode control, Linear actuator, Mathematical model
