基于力反馈的夹持器系统模型

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王牛, 田强, 丘柳东, 高鹏. 基于力反馈的夹持器系统模型[J]. 机器人, 2011, 33(4): 475-481.. WANG Niu, TIAN Qiang, QIU Liudong, GAO Peng. Model of Force Feedback Gripper System. ROBOT, 2011, 33(4): 475-481..

摘要分析了基于力反馈的夹持器系统的各个子系统，建立了包括位/力转换子系统、检测子系统、电机及驱动子系统、控制子系统在内的各子系统数学模型．进而得到了带饱和非线性环节的整个闭环系统的分段状态空间模型．利用系统实际响应，通过最小二乘法和遗传算法得到了该非线性模型的参数．对实际系统、基于2阶线性简化模型的仿真系统与基于本文所提出模型的仿真系统的响应进行比较，证实了所提出模型及其参数整定方法的有效性．

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关键词 ：力控制, 夹持器, 饱和非线性, 状态空间模型

Abstract：Subsystems of force feedback gripper system are analyzed.The mathematical models of the position/force conversion,detection,motor-drive and control subsystems are established.Furthermore,the piecewise state-space model of whole feedback system with saturation nonlinearity is proposed.Using the actual response of the system,the parameters of this nonlinear model are obtained via the least squares method and the genetic algorithm.The response results of the simulation system based on the proposed model,the simulation system based on the second order linear simplified model and the actual system,are compared.The effectiveness of the model and the tuning method of its parameters are confirmed.

Key words： force control gripper saturation nonlinearity state-space model

收稿日期: 2010-12-13 录用日期: 2011-04-13

TP391.9

基金资助:国家自然科学基金资助项目（60804018）；中央高校基本科研业务费资助项目（CDJZR10170008）；重庆市科委自然科学基金资助项目（CSTC2010BB2237）；重庆大学引进人才科研启动基金资助项目.

通讯作者: 王牛 E-mail: wangniu@cqu.edu.cn

作者简介: 王牛（1974- ），男，博士，讲师．研究领域：智能控制，智能机器人，复杂系统控制，模式识别与图像处理．
田强（1986- ），男，硕士生．研究领域：智能控制，模式识别．
丘柳东（1978- ），男，博士生．研究领域：机器人感知，模式识别与图像处理等．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2011/V33/I4/475

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