| 引用本文: | 李杰,韦庆,常文森,等.机器人操作空间加速度信号应用研究.[J].国防科技大学学报,1998,20(1):36-41.[点击复制] |
| Li Jie,Wei Qing,Chang Wensen,et al.Research on the Use of Acceleration Signal for Task Space of Robot Manipulator[J].Journal of National University of Defense Technology,1998,20(1):36-41[点击复制] |
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| 机器人操作空间加速度信号应用研究 |
| 李杰, 韦庆, 常文森, 张彭 |
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(国防科技大学 自动控制系 湖南 长沙 410073)
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| 摘要: |
| 机器人力控制存在着动力学不稳定性问题，即系统响应速度和稳定性之间的矛盾。在操作空间一级引入加速度正反馈，既能使系统的响应频带变宽.又能提高系统阻尼.这种方法能有效地提高机器人对高刚度环境的适应性，使力控制的动力学不稳定性问题得到明显地缓和；另外本文研究了用加速度积分信号代替位置差分速度信号来消除差分噪声，提高力控制精度方法的应用前景。 |
| 关键词: 加速度反馈，力/位置混合控制，动力学不稳定性 |
| DOI： |
| 投稿日期：1997-05-21 |
| 基金项目:国家863计划基金资助 |
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| Research on the Use of Acceleration Signal for Task Space of Robot Manipulator |
| Li Jie, Wei Qing, Chang Wensen, Zhang Peng |
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(Department of Automatic Control，NUDT，Changsha，410073)
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| Abstract: |
| The dynamic instability problem exists in，the force control of robot manipulator，which is the contradiction between response speed and stability. For the sampling control system，the accelerations positive feedback in task space can broaden the system frequency band and raise the system damping. This approach can enhance the robot manipulator's ability to adapt itself to the stiff environment and relax the dynamec instability problem in force control obviously. In addition，this article discusses the prospective application in using the integration of the filtered integral signal of the accelerator and the encodes' signal to replace the velocity coming form the position defference to remove the difference noise and improve the precision in force control of robot manipulator. |
| Keywords: accelerator feedback,hybrid force and position control,dynamic instability |
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