| 改进力控方案完成异形孔装配 |
| |
| 引用本文： | 孟正大,路兆梅,严学高.改进力控方案完成异形孔装配[J].南京航空航天大学学报,1994(Z1). |
| |
| 作者姓名： | 孟正大 路兆梅 严学高 |
| |
| 作者单位： | 东南大学自动控制系 |
| |
| 摘 要： | 讨论了改进的力／位混合控制方案、异形孔装配策略规划及其在ＪＲＢ－１机器人上的实现。简述了该方案的优点，在ＪＲＢ－１机器人上实现所解决的问题，提出用适应性增益解决力控环稳定问题。文中还结合异形孔装配给出了装配任务的描述和装配策略的自动生成方法。
|
| 关 键 词： | 机器人，混合控制，顺从性，异形孔装配，任务描述 |
Non-Circular Peg-into-Hole Assembly Completed With the Improved Force Control Scheme |
| |
| Mecg Zhangda,Lu Zhaomei,Yan Xuegao.Non-Circular Peg-into-Hole Assembly Completed With the Improved Force Control Scheme[J].Journal of Nanjing University of Aeronautics & Astronautics,1994(Z1). |
| |
| Authors: | Mecg Zhangda Lu Zhaomei Yan Xuegao |
| |
| Abstract: | The implementation of the improved force control scheme on JRB-1 robot and the planning of non-circular peg-into-hole assembly strategy are discussed here. The advantages of the scheme and the problems solved in the implementation on JRB-1 robot are discribed. An adaptive gain is suggested to stabilize the force control loop. In addition, assembly task specification and an automatic generating method for assembly strategy are given out' |
| |
| Keywords: | robots hybrid control compliance non-circular peg-into-hole assembly task specification |
| 本文献已被 CNKI 等数据库收录！ |
