路兆梅, 孟正大, 严学高. 力控方案中抑制机械手冲击的策略[J]. 机器人, 1996, 18(4): 228-231.
引用本文: 路兆梅, 孟正大, 严学高. 力控方案中抑制机械手冲击的策略[J]. 机器人, 1996, 18(4): 228-231.
LU Zhaomei, MENG Zhengda, YAN Xuegao. A STRATEGY TO REJECT THE IMPACT OF MANIPULATOR IN THE FORCE CONTROL SCHEME[J]. ROBOT, 1996, 18(4): 228-231.
Citation: LU Zhaomei, MENG Zhengda, YAN Xuegao. A STRATEGY TO REJECT THE IMPACT OF MANIPULATOR IN THE FORCE CONTROL SCHEME[J]. ROBOT, 1996, 18(4): 228-231.

力控方案中抑制机械手冲击的策略

A STRATEGY TO REJECT THE IMPACT OF MANIPULATOR IN THE FORCE CONTROL SCHEME

  • 摘要: 本文讨论了机器人力控方案中,抑制碰撞时冲击力的控制策略.文中提出了发生碰撞时的模型,在此基础上分析了两种策略得到的结论.实验结果与理论分析相一致,都指出积分算法能得到满意的抑制冲击的效果.

     

    Abstract: The control strategy, which rejects the impact of manipulator in the force control scheme,is discussed in this paper. The paper presents a mathematic model for the manipulator when impact occurs,and on the basis of the model, this paper analyzes the results obtained from two strategies. The experimental results accord with the theoretic analysis and indicates that the integral algorithm can reject impact satisfactorily.

     

/

返回文章
返回