摘要
本文研究关于机械臂的位置与力的混合控制方法.为了实现混合控制,首先应用一对被称为“任务规范投影算子”建立了机械臂混合控制的动态方程.在此基础上,提出了两种控制器的设计方法,一种是计算力矩方法控制器,另一种是动态补偿变结构控制器.后者不但具有更好的鲁棒性,并且可以分别调整运动与约束力的跟踪精度.
In this paper, the problem of compliance control of a robot manipulator is studied. To realize hybrid control, the dynamic equations of mamipulators are set up by a couple of what is called 'task specification project operators', and two design methods of hybrid position/ force controller are proposed to guarantee accurate tracking of the desired motion and force: one is given by means of the computed torque method and the other is variable structure control. It is shown that robustness has been improved in the latter case.
出处
《自动化学报》
EI
CSCD
北大核心
1991年第5期524-530,共7页
Acta Automatica Sinica
基金
教委博士点基金资助
关键词
机械臂
位置
力
混合控制
机器人
Control of manipulators
compliance control
hybrid position/force control
variable structure control
