机械臂的动态混合控制

本文研究当机械臂的终端受有约束时的控制问题,文中应用了动态混合控制方法。其中心内容是给出关于“任务规范投影算子”的概念。利用它首先将机械臂的动态方程解耦为两组方程,它们分别描述了运动与约束反力。在此基础上给出了机械臂的控制律,使闭环系统跟踪期望的速度与约束反力。

AN APPROACH TO HYBRID POSITION/FORCE CONTROL OF ROBOT MANIPULATORS

In this paper the problem of tracking along a constrained surface is studied and to-this goal an alternative hybrid position/force control approach is proposed.The main contribution in this concern is the introduction of two task specification projective operators.With these operators the dynamic equation of a constrained robot manipulator is decoupled into two subsystems,one of which describes the motion and the other describes the constraint force.A feedforward and feedback control law is designed to guarantee the tracking of the desired motion and force.