| 引用本文: | 刘美华,常文森.两种具有动力学补偿的机器人位置/力混合控制器.[J].国防科技大学学报,1989,11(1):42-49.[点击复制] |
| Liu Meihua,Chang Wensen.Two Hybrid Position/Force Controllers with Dynamics Compensation for Robot Manipulators[J].Journal of National University of Defense Technology,1989,11(1):42-49[点击复制] |
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| 两种具有动力学补偿的机器人位置/力混合控制器 |
| 刘美华, 常文森 |
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(自动控制系)
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| 摘要: |
| 文中提出了采用前馈动力学补偿和实时动力学补偿的两种机器人位置/力混合控制器。仿真结果显示了这两种动力学补偿的有效性。由于动力学补偿的引入、机器人位置/力混合控制系统的性能得到明显改善。 |
| 关键词: 机器人，控制器，位置/力，顺应运动，动力学补偿 |
| DOI： |
| 投稿日期：1987-11-05 |
| 基金项目: |
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| Two Hybrid Position/Force Controllers with Dynamics Compensation for Robot Manipulators |
| Liu Meihua, Chang Wensen |
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(Department of Automatic Control)
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| Abstract: |
| By using feedforward dynamics compensation and real-time dynamics compensation，two hybrid position/force controllers are proposed for robot manipulators. The effectiveness of these dynamics compensations is shown by simulation results. The performances of the hybrid position/force control system are obviously improved due to these dynamics compensations. |
| Keywords: robotic manipulator,controller,position/force,Compliant motion,dynamics compensation |
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