有环境约束时完成一族跟踪任务的力控制

Force Control for Tracking a Set of Tasks in Presence of Constraints

中文关键词  有约束机器人控制  反作用力控制  一族跟踪控制  混合控制  递阶控制

英文关键词  robot control with constraints  control of the reactive force  tracking a set of tasks hybrid control  hierarchical control

中文摘要

      对机器人执行跟踪控制任务提出了一种新方案。当机器人的运动受到环境约束时用这一控制可执行一族跟踪任务，因为采用了相对速度表示的约束模型，力控制与约束运动控制能自动分解。具体给出了两种力控制律。此外，对于复杂的控制任务建立了递阶的控制结构。

英文摘要

      A new approach to tracking tasks by robots in the presence of environmental constraints in proposed. Since the dynamic equations of a rigid object are written in a component form with respect to axes fixed with the object, a new model of constraints is given in a very simple form as linear functions of velocity components. As a result, the system of differential equations of motion of the object is automatically decomposed into two subsystems: equations of motion and equations of reactive force. Two force feedback schemes are developed. A hierarchical architecture is established for the overall control strategy such that the robot can track a set of different object for different desired motions.