| 引用本文: | 程勉.机械臂的动态混合控制[J].控制理论与应用,1991,8(1):82~88.[点击复制] |
| Cheng Mian.An Approach to Hybrid Posit /Force Control of Robot Manipulators[J].Control Theory and Technology,1991,8(1):82~88.[点击复制] |
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| 机械臂的动态混合控制 |
| An Approach to Hybrid Posit /Force Control of Robot Manipulators |
| 摘要点击 1133 全文点击 457 投稿时间：1990-01-22 修订日期：1900-05-25 |
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| DOI编号 |
| 1991,8(1):82-88 |
| 中文关键词 机械臂的控制 非线性系统 目标跟踪 控制系统综合 混合控制 |
| 英文关键词 robot control nonlinear system target tracking control system synthesis hybrid control |
| 基金项目 |
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| 中文摘要 |
| 本文研究当机械臂的终端受有约束时的控制问题。其中心内容是给出“任务规范投影算子”的概念。利用它首先将机械臂的动态方程解耦为两组方程，它们分别描述了运动与约束力。在此基础上给出了机械臂的控制律，使闭环系统跟踪期望的速度与约束力。 |
| 英文摘要 |
| In this paper,the problem of tracking along a constraint surface is studied. Towards this goal, the main contribution in this study is the introduction of two task specification projective operators. With these operators, the dynamic equation of a constrained robot manipulator can be decoupled into two subsystems, one of which describes the motion and the other describes the constraint force. A feedforward and feedback control law is designed to guarantee the tracking of the desired motion and force. |