摘要
为了实现力反馈遥操作系统中的力反馈,介绍了一种用作力反馈主手的驱动冗余并联机构,并提出了一种简单的力控制算法。这种方法首先由机构的逆解计算其力映射矩阵、雅可比矩阵。然后,基于消除冗余并联机构固有内力的原则,由冗余并联机构的末端力得到机构各个主动关节的驱动力。由于并联机构的逆解比正解简单,这种方法能够大大地简化计算。实验结果表明,这种算法能快速、精确地完成力控制。
In order to realize the force-feedback of teleoperation system, a parallel-mechanism used as a force-feedback hand is introduced and a simple control algorithm is presented. Jacobian matrix and force-mapping matrix are calculated from the inverse-kinematics of the parallelmechanism. Then, based on eliminating the internal force inherent in redundant mechanism, torque of each driving joint are calculated from the force acting on the terminal of the parallel-mechanism, This algorithm can simplify calculation for the inverse-kinematics of parallel-mechanism is simpler than its forward-kinematics. Experiment result shows that the algorithm can finish force control fast, accurately.
出处
《控制工程》
CSCD
2006年第2期149-151,171,共4页
Control Engineering of China
基金
国家自然科学基金资助项目(500290501)
关键词
冗余
并联机构
力映射矩阵
雅可比矩阵
redundant
parallel mechanism
force-mapping man-ix
Jacobian matrix
