| 引用本文: | 邹逢兴.GKD-l RRC 机器人控制器与力反馈顺应控制研究.[J].国防科技大学学报,1993,15(2):30-35.[点击复制] |
| Zou Fengxing.GKD-1 RRC Robot Controller and the Research of Force-feedback Compliance Control[J].Journal of National University of Defense Technology,1993,15(2):30-35[点击复制] |
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| GKD-l RRC 机器人控制器与力反馈顺应控制研究 |
| 邹逢兴 |
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(自动控制系)
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| 摘要: |
| GKD-1 RRC是为开展机器人力反馈顺应控制的研究而设计的新型机器人实时控制器。本文介绍了它的主要性能、特点，并对用它在PUMA 562机械手上完成的几个典型的力/位置混合控制实验及其控制策略、实验结果进行了说明。实验表明，以GKD-l RRC为核心的机器人力控制系统，控制周期仅为 4.88ms，力控制稳态误差平均小于100g，位置控制精度不低于机械手原有水平，证明GKD-l RRC控制器性能优越。 |
| 关键词: 机器人控制器，多处理机系统，力反馈顺应控制，并行处理 |
| DOI： |
| 投稿日期：1992-05-20 |
| 基金项目:本项研究得到国家 863 计划的资助，并获部委级科技进步二等奖 |
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| GKD-1 RRC Robot Controller and the Research of Force-feedback Compliance Control |
| Zou Fengxing |
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(Department of Automatic Control)
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| Abstract: |
| GKD-l RRC controller is a new type of real-time robot controller designed for the research of the robot force-feedback compliance control. This paper firstly introduces the main performances and features of GKD-1 RRC controller，and then describes severa/forcel position mixed control experiments and its control strategies and results. These experiments are fulfilled on PUMA562 manipulator with GKD-1 RRC. In these experiments，the control period is shorten to 4.88ms; average force control static error is smaller than 100g; position control accuracy is not lower than that of PUMA562. These results prove that GKD-1 RRC controller has high performances. |
| Keywords: multiprocessor,parallel processing,robot controller,force-feedback Compliance control |
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