韩建达, 成海, 谈大龙. 一种基于运动状态反馈的机器人接触力控制[J]. 机器人, 1997, 19(6): 412-419..
HAN Jianda, CHENG Hai, TAN Dalong. ROBOT TRANSITION CONTROL BASED ON STATES FEEDBACK. ROBOT, 1997, 19(6): 412-419..
Abstract:This paper proposes to utilize joint acceleration feedback control for robot to damped oscillations during the transition from free motion phase to constrained phase when the approaching speed is non-zero and the environment is stiff. Both system structure and control algorithms are analyzed. Experimental results are presented and compared with those without joint acceleration feedback demonstrate the improvement of the proposed scheme.
1 James M H,Mark R C.Contact Transition Control:An Experimental Study.IEEE International Conference on Robotics and Automation,1993 2 Mills J K,Lokhorst D M.Experimental Results in Manipul ator Contact Task Control.IEEE International Conference on Robotics and Automation,1991 3 Hogan N.St able Execution of Contact Tasks Using Impedance Control.IEEE International Conference on Robotics and Automation,1987 4 Qian H P,De Schutter J.Introduction Active Linear and Nonlinear Damping to Enable Stable High Gain Force Control in Case of Stiff Contact.IEEE International Conference on Robotics and Automation,1992 5 Wilfinger L S,Wen J,Murphy S.Integral Force Control with Robustness Enhancement.IEEE International Conference on Robotics and Automation,1993 6 Weng S W,Young K Y.An Impact Control Scheme Inspired by Human Reflex.Journal of Robotic System,1996,13 (12) 7 Wedeward K,Colbaugh R,Engelmann A.Adaptive Explicit Force Control of Position-Conroled Manipulators.Journal of Robotic System,1996,13(9) 8 Seraji D Li m,Robert Steele.Experiments in Contact Control.Journal of Robotic Systems,1996,13(2)