黄亚楼, 曾向秋, 卢桂章. 工业机器人自适应力控制的新方法[J]. 机器人, 1996, 18(4): 193-200..
HUANG Yalou, ZHENG Xiangqiu, LU Guizhang. A NEW APPROACH TO THE ADAPTIVE FORCE CONTROL OF INDUSTRIAL ROBOT. ROBOT, 1996, 18(4): 193-200..
Abstract：One of the difficulties of the control problem of the robot force control system is that the stability of the system is sensitive to the changes of the stiffness of the environment on which the force is exerted. To solve the problem, this paper first presents a model of the manipulator in contact with a rigid environment and then proposes an adaptive force control method based on the Popov’s hyperstability criterion. The principle of the method is to identify the environment stiffness to determine an adaptive force feedback gain corresponding to the contacted environment.The theoretic analysis and experimental results show that this method can realize a stable force control when the environment stiffness changes in sufficiently large extent.
1 肖继忠,曾向秋,黄亚楼,卢桂章.一种变增益的机器人力控制方法——分析与实验.中国科协首届青年学术年会机器人研讨会论文集,1992
2 黄亚楼,卢桂章.机器人力控制稳定性分析与实验研究.中国科协首届青年学术年会机器人研讨会论文集,1992
3 肖笛,程勉,高为炳.机器人适从运动的鲁棒自适应混合控制.1992年中国控制与决策学术年会论文集,哈尔滨
4 朱世平,程 勉,高为炳.自适应混合位置,力控制决策.1992年中国控制与决策学术年会论文集,哈尔滨
5 付京逊等著,杨静宇等译.机器人学—控制、传感技术、视觉、智能.中国科技出版社,1989
6 肖继忠.机器人的力控制方法研究.华东工学院硕士论文,1993
7 Yabuta T,Yamada T et al.Force Control of Servo-mechanism Using Adaptive Control.IEEE J of Robotics and Automation,1988,4(2)
8 Carelli R et al.Adaptive Force Control of Robot Manipu ators.Int J of Control,1990,52(1):37～54
9 Tsujimura T,Yabuta T.A daptive Force Control of Screwdriving with a Positioning-controlled Manipulator.Robotics and Autonomous System,1991,7:57～65
10 Komada S,Nomura K et al.Robust Force Control Based on Estimation of Environment.Proc of 1992 IEEE Int Conf on Robotics and Automation,Nice,France,1992
11 Nemec B,Zlajpah L.O n Adaptive Control of Force Controlled Manipulators——Implementation and Experimental Results.Proc of the 1992 IEEE Int Conf on Robotics and Automation
12 Goldenberg A A.Analysis of Force Control Based on Linear Models.Proc of the 1992 IEEE Conf on Robotics and Automation
13 De Schutter J,Van Brussel H.Compliant Robot Motion II:A Control Approach Based on External Control Loops.
Robotics Research,1988,7(4)
14 Landau Y.Adaptive Control.Marcel Dekker Inc,1979
