巩敦, 卫霍伟. 基于螺旋理论的机器人自适应运动/力混合控制[J]. 机器人, 1996, 18(4): 212-216.
引用本文: 巩敦, 卫霍伟. 基于螺旋理论的机器人自适应运动/力混合控制[J]. 机器人, 1996, 18(4): 212-216.
GONG Dunwei, HUO Wei. SCREW THEORY-BASED ADAPTIVE HYBRID MOTION/FORCE CONTROL FOR ROBOT MANIPULATIORS[J]. ROBOT, 1996, 18(4): 212-216.
Citation: GONG Dunwei, HUO Wei. SCREW THEORY-BASED ADAPTIVE HYBRID MOTION/FORCE CONTROL FOR ROBOT MANIPULATIORS[J]. ROBOT, 1996, 18(4): 212-216.

基于螺旋理论的机器人自适应运动/力混合控制

SCREW THEORY-BASED ADAPTIVE HYBRID MOTION/FORCE CONTROL FOR ROBOT MANIPULATIORS

  • 摘要: 本文研究当机器人动力学模型中含有未知惯性参数时机器人适从运动的混合控制.利用螺旋理论将与环境接触时的机器人动力学方程分成两个螺旋方程后,提出了一种运动和力的自适应混合控制规律.该规律直接利用自然约束和人工约束,达到了运动/力的全局稳定跟踪.

     

    Abstract: In this paper, the robot manipulator dynamic equation in the case of contacting with environments is disposed into two screw equations by using screw theory. Then an adaptive hybrid motion/force controller is given in the case of the model of robot manipulators being unknown. The controller makes use of natural constraints and artificial constraints directly,and makes motions and forces converge their desired values respectively. The simmulation results show that it is effective.

     

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