摘要
为了使仿人灵巧手完成各种精细作业,提出了一种新的关节位置/力矩控制方法。在自由空间和约束空间中分别采用滑模位置控制和具有前馈的PD力矩控制,在过渡过程中使用系统观测器切换控制模式。这种方法可以使关节在自由空间和约束空间中分别实现良好的轨迹跟踪和力矩跟踪,在过渡过程中实现控制模式的可靠切换和系统的稳定过渡。实验证明了该方法的有效性。
In this paper, a new joint position/torque control strategy is proposed in order to complete various fine manipulations by using dextrous hand. Sliding mode position control and PD torque control with feedforward are used in free and constrained space, respectively. System observer is adopted in transition in order to switch control mode. Trajectory tracking in free space and torque tracking in constrained space are realized, and reliability of mode switch and stability of system are achieved in transition. Experimental results verifies the effectiveness of this method.
出处
《电机与控制学报》
EI
CSCD
北大核心
2003年第2期151-156,共6页
Electric Machines and Control
基金
国家"863"计划(863-512-9924-03)
黑龙江省杰出青年科学基金
