摘要
应用指尖六维力矩传感器,实现了单手指的基于位置的笛卡尔阻抗控制,根据指尖力/力矩传感器提供的力信息,按照目标阻抗模型修正手指的参考位置,利用内环的位置控制器使手指跟踪期望轨迹.
Using 6 DOFs force/torque sensor, the cartesian position based impedance control of single finger is implemented. According to the force/torque sensing information of the fingertip sensor,reference position will be modified in term of aim impedance model, and the inner position controller is used to control the finger to follow anticipant track.
出处
《机械与电子》
2005年第10期62-64,共3页
Machinery & Electronics
关键词
灵巧手
传感器
阻抗控制
robotic hands sensors
impedance control
