范伟, 彭光正, 高建英, 宁汝新. 气动人工肌肉驱动球面并联机器人的力控制研究[J]. 机器人, 2004, 26(4): 336-341..
FAN Wei, PENG Guang-zheng, GAO Jian-ying, NING Ru-xin. Study on the Force Control of a Spherical Parallel Robot Actuated by Pneumatic Muscle Actuators. ROBOT, 2004, 26(4): 336-341..
Abstract：Force control of a spherical parallel mechanism actuated by pneumatic muscle actuators is studied, including the analysis of static force relationship, force control strategy and algorithm. Good force servo results are achieved. Furthermore, smooth contact is realized by the integration of passive compliance of pneumatic muscle actuators and active compliance of position transition to force control.
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