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．
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 .
出处
《机器人》
EI
CSCD
北大核心
1999年第1期23-29,共7页
Robot
基金
智能机器人主题专家组基础研究资助
