采用力外环的机器人运动和力控制

本文给出了采用力外环的机器人力控制的设计方案，利用高精度的六维腕力传感器在工业机器人Ｍｏｖｅｍａｓｔｅｒ－ＥＸ和ＰＵＭＡ５６２上进行该控制方案的实验研究。实验结果表明，采用力外环的机器人力控制方案其结构简单，通用性好，适合于各种不同用途的机器人力控制器投计。

Motion and Force Control for Robotic Manipulator Using Force Outer Loops

In this paper,the force control design law for robotic manipulator based on force outer loops is described.By using high accurate six dimension wrist force sensor,experiment of the scheme for industrial robotic manipulator Movemaster-EX and PUMA562 is given out.The experiment results demonstrate that the scheme has simple structure and better general purpose.It is suitable for the force controller design for robotic manipulator in different application areas.