| 引用本文: | 徐建闽 ，朱蓓蓓， 周其节.一类受限柔性机器人的鲁棒性力／位置控制方法*[J].控制理论与应用,1998,15(5):716~721.[点击复制] |
| XU Jianmin，ZHU Beiber and ZHOU Qijie.Robust Force/Position Control of a Kind ofConstrained Flexible Robots[J].Control Theory and Technology,1998,15(5):716~721.[点击复制] |
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| 一类受限柔性机器人的鲁棒性力／位置控制方法* |
| Robust Force/Position Control of a Kind ofConstrained Flexible Robots |
| 摘要点击 928 全文点击 428 投稿时间：1996-08-16 修订日期：1997-05-15 |
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| DOI编号 |
| 1998,15(5):716-721 |
| 中文关键词 受限柔性机器人 非线性反馈 变结构控制 |
| 英文关键词 constrained flexible robots nonlinear feedback variable structure control |
| 基金项目 |
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| 中文摘要 |
| Robust Force/Position Control of a Kind of
Constrained Flexible Robots |
| 英文摘要 |
| This. paper addresses robust force/position control of a kind of constrained flexlble robots First，a nonlinear dynamic model of the constrained flexible robot is derived and is transformed to affine non-linear system by using differential geometry theory. Then the system is linearized by using nonlinear feedback mcthod. At last，a variable structure control law is designed for the subsystem which can ensure the robust-ness of the system. |