| 引用本文: | 戴铁成,蔡鹤皋,吴 林.机器人力控制器的鲁棒性设计及其在装配作业中的应用[J].控制理论与应用,1993,10(3):322~328.[点击复制] |
| DAI Tiecheng, CAI Hegao and WU Lin.Robustness Design of Force Controller for a Robot and Its Applications to Assembly Tasks[J].Control Theory and Technology,1993,10(3):322~328.[点击复制] |
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| 机器人力控制器的鲁棒性设计及其在装配作业中的应用 |
| Robustness Design of Force Controller for a Robot and Its Applications to Assembly Tasks |
| 摘要点击 1112 全文点击 493 投稿时间：1991-11-13 修订日期：1992-06-04 |
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| DOI编号 |
| 1993,10(3):322-328 |
| 中文关键词 变结构控制 鲁棒控制 机器人 时变滑动平面 力控制系统 |
| 英文关键词 variable structure control robust control robot time-varying sliding surface force control |
| 基金项目 |
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| 中文摘要 |
| 当机器人与外界环境发生接触时，接触刚度等不确定性因素对机器人力控制系统的稳定性有很大影响。为了解决这个问题，本文根据变结构控制理论设计了一个机器人力控制器，并提出了一种旋转滑动平面的自适应算法，以加快系统状态的收敛速度和保证收敛过程的鲁棒性。装配实验结果表明，利用本文的方法所设计的机器人力控制器对接触刚度的变化具有很好的鲁棒性。 |
| 英文摘要 |
| When a robot makes contact with external environments, some uncertainties from the contact stiffness have great effects on the stability of the force control system of the robot. To solve the problem, a robot force controller was designed using the theory of variable structure control. An algorithm of rotating sliding surfaces was suggested to increase the convergence speed of the system state and ensure robustness of the system during the convergence course. The experiment results of the robotic assembly shown that the robot force controller designed in this paper was robust to the variations of the contact stiffness. |