| 引用本文: | 张辉,张彭,常文森,等.双机械手对称式协调力控制稳定性分析.[J].国防科技大学学报,1999,21(4):103-107.[点击复制] |
| Zhang Hui,Zhang Peng,Chang Wensheng,et al.Analysis of the Force Control Stability of the Symmetric Coordination of Two Robots[J].Journal of National University of Defense Technology,1999,21(4):103-107[点击复制] |
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| 双机械手对称式协调力控制稳定性分析 |
| 张辉, 张彭, 常文森, 韦庆 |
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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: |
| 本文利用双机械手协调内力和外力控制系统的简化模型, 分析了在双手紧夹持物体与环境接触时,1) 机械手等效电机的动态特性; 2) 双手所夹持物体的刚度; 3)双手所操作物体的动态特性; 4)机械手的采样控制延时; 5)双手的非对称性等系统未建模因素对双手对称式协调外力和内力控制稳定性的影响, 并给出仿真结果。此结果与实验结果基本相符。 |
| 关键词: 双手协调, 力控制, 稳定性分析 |
| DOI： |
| 投稿日期：1998-12-24 |
| 基金项目:国家自然科学基金项目资助 |
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| Analysis of the Force Control Stability of the Symmetric Coordination of Two Robots |
| Zhang Hui, Zhang Peng, Chang Wensheng, Wei Qing |
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(Department of Automatic Control, NUDT, Changsha , 410073)
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| Abstract: |
| In this paper, when two robots rigidly grasp an object to contact the gurround, using the simplified model of the two symmetric coordinated robots, we analyze the effect on the stability of the internal force and external force symmetric control system due to the unmodeled factors: (1) the equivalent motor dynamic of robot, (2) the stiffness of the object grasped by two robots, (3) the dynamic of the object, (4) the sampling control delay of the computer control, (5) the dissymmetry of two robots. Then the results of the simulations are given, which accord with the experimental results. |
| Keywords: Two coordinated robots, force control, stability analysis |
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