常文森, 朱晓峰, 张曲光, 徐小林. 操作器力和位置混合控制:数学模型和实验研究中的几个问题[J]. 机器人, 1993, 15(1): 1-9.
引用本文: 常文森, 朱晓峰, 张曲光, 徐小林. 操作器力和位置混合控制:数学模型和实验研究中的几个问题[J]. 机器人, 1993, 15(1): 1-9.
CHANG Wensen, ZHU Xiaofeng, ZHANG Quguang, XU Xiaolin. FORCE/POSITION HYBRID CONTROL OF ROBOT MANIPULATORS:PROBLEMS IN MATHEMATICAL MODEL AND EXPERIMENT RESEARCH[J]. ROBOT, 1993, 15(1): 1-9.
Citation: CHANG Wensen, ZHU Xiaofeng, ZHANG Quguang, XU Xiaolin. FORCE/POSITION HYBRID CONTROL OF ROBOT MANIPULATORS:PROBLEMS IN MATHEMATICAL MODEL AND EXPERIMENT RESEARCH[J]. ROBOT, 1993, 15(1): 1-9.

操作器力和位置混合控制:数学模型和实验研究中的几个问题

FORCE/POSITION HYBRID CONTROL OF ROBOT MANIPULATORS:PROBLEMS IN MATHEMATICAL MODEL AND EXPERIMENT RESEARCH

  • 摘要: 本文是文1的续篇.首先讨论了为实现力和位置混合控制算法的数学模型中的几个问题,然后介绍并讨论了几个典型力和位置混合控制的实验内容和实验结果,该实验是在KD-1控制器支持下完成的.最后对力控制技术的进一步发展进行了初步的分析.

     

    Abstract: This paper is the continuation of the earlier one1.At first,several problems on mathematical modelingare discussed in order to realize the hybrid force/position control algorithm.The contents and results of theexperiments,which are tested with the KDIRRC controller on the PUMA robot arm with the rules of hybridforce/position control and several specified typical force control,are introduced.Finally,analysis and discus-sion are given about the experiment results and further development of force control techniques.

     

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