机器人系统的动态混合力/位置控制的几何原理

A GEOMETRICAL APPROACH TO DYNAMIC HYBRID FORCE/ POSITION CONTROL OF ROBOT SYSTEM

基于在位形空间中受约束系统的几何性质,对机器人系统的运动及所受的约束力进行研究。通过引入法空间及切空间的概念,实现了机器人运动及力的解耦控制,从而简化了控制系统。通过对双臂机器人系统的位置/力动态混合控制的数字仿真,说明本方法简单、可行。

Based on the geometrical properties of the constrained system in configuration space, the motion and the constraining forces of robot system are studied. With the introduction of tangent space and normal space, the controls of motion and forces of robot are decoupled and the control system is simplified. Taking dynamic hybrid position / force control of a dual-arm system as an example, the simulation results show that the method proposed in this paper is simple and feasible, and facilitates the understanding of the nature of dynamic hybrid position / force control of constrained robot system.