| 智能机器力觉及力控制研究综述 |
| |
| 引用本文： | 殷跃红,朱剑英. 智能机器力觉及力控制研究综述[J]. 航空学报, 1999, 20(1): 1-7 |
| |
| 作者姓名： | 殷跃红 朱剑英 |
| |
| 作者单位： | 1. 浙江大学流体传动及控制国家重点实验室, 杭州, 310027 ;2. 南京航空航天大学机电工程学院, 南京, 210016 |
| |
| 摘 要： | 回顾了智能机器力觉及力控制研究历史，介绍了目前的研究现状，详细分析了现有的4种研究策略：阻抗控制、力／位混合控制、现代控制、智能控制。提出了智能机器力觉及力控制研究的4大关键问题：机器本体及位置伺服；碰撞冲击及稳定性研究；未知环境的约束研究；力传感器及力／位反馈融合，展望了智能机器力觉及力控制研究趋势和应用前景。
|
| 关 键 词： | 机器人 智能机器 柔顺性 智能控制 力控制 模糊神经网络 多传感器融合 |
| 收稿时间： | 1998-04-17 |
| 修稿时间： | 1998-09-06 |
FORCE SENSING & CONTROL FOR INTELLIGENT MACHINE:AN OVERVIEW |
| |
| Yin Yuehong ,Zhu Jianying. FORCE SENSING & CONTROL FOR INTELLIGENT MACHINE:AN OVERVIEW[J]. Acta Aeronautica et Astronautica Sinica, 1999, 20(1): 1-7 |
| |
| Authors: | Yin Yuehong Zhu Jianying |
| |
| Affiliation: | 1. State Key Laboratory of Fluid Power Transmission & Control of Zhejiang University,Hangzhou,310027 ;2. Mechatronics Engineering Institute of Nanjing University of Aeronautics & Astronautics,Nanjing,210016 |
| |
| Abstract: | The past and present of force sensing & control for intelligent machine are reviewed.Four strategies,Impedance control,Force and Position Hybrid Control,Modern Control and Intelligent Control,of the study on force control are analyzed in detail.Four key problems of force sensing and control are described.It is pointed out that integration of AI & intelligent control and synthesis of passive and active compliance are the trend of the future,and good application prospect is viewed. |
| |
| Keywords: | robotics intelligent machine compliance intelligent control force control fuzzy neural network multi sensor fusion |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
| 点击此处可从《航空学报》浏览原始摘要信息 |
|
点击此处可从《航空学报》下载全文 |
