李杰, 韦庆, 常文森, 张彭. 基于阻抗控制的自适应力跟踪方法[J]. 机器人, 1999, 21(1): 23-29.
引用本文: 李杰, 韦庆, 常文森, 张彭. 基于阻抗控制的自适应力跟踪方法[J]. 机器人, 1999, 21(1): 23-29.
LI Jie, WEI Qing, CHANG Wensen, ZHANG Peng. ADAPTIVE FORCE TRACKING IN IMPEDANCE CONTROL[J]. ROBOT, 1999, 21(1): 23-29.
Citation: LI Jie, WEI Qing, CHANG Wensen, ZHANG Peng. ADAPTIVE FORCE TRACKING IN IMPEDANCE CONTROL[J]. ROBOT, 1999, 21(1): 23-29.

基于阻抗控制的自适应力跟踪方法

ADAPTIVE FORCE TRACKING IN IMPEDANCE CONTROL

  • 摘要: 本文针对阻抗控制不能精确控制力的缺陷,提出了一种自适应的力跟踪策略.它根据力误差在线修正参考位置,使机械手的实际接触力跟踪期望力.这种方法对补偿误差、干扰和环境知识等不确定因素具有鲁棒性,而且计算量小,符合实时控制的要求.实验研究证明了该方法的有效性.

     

    Abstract: This paper presents an adaptive method to correct large force error in impedance control.It modifies the reference position according to the force error on line so that contact force between the manipulator and the environment can track the reference force.And it is robust to the uncertainties such as compensation error,disturbance and knowledge of the environment.This method satisfies the requirement of the realtime control because of its short computation time.Experiment results verify its efficiency.

     

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