摘要
本文在机械手力/位置混合控制的基础上,结合多传感器融合技术,提出基于多传感器信息融合的机械手控制模 型,并将其应用于特种液压施工机械手中,实现了机械手混合控制中力和位置反馈的决策融合,提高了反馈参数的精度和 机械手控制系统的跟踪能力与可靠性。
By using multi-sensor fusion technology based on mix controlling of force/position,manipulator control model based on multi-sensor information fusion was proposed,it was applied to special hydraulic construction mechanical manipulator and the decision-fusion of force and position in mix controlling of manipulator was achieved.It enhances the precision of feedback parameters and improves tracking capacity and reliability in the system of manipulator control.
出处
《机床与液压》
北大核心
2005年第3期144-146,共3页
Machine Tool & Hydraulics
关键词
多传感器
信息融合
混合控制
液压
机械手
Multi-sensor
Information/data fusion
Mix controlling
Hydraulics
Manipulator
