摘要
为模拟空间对接强制校正阶段的推出和拉近过程,提出基于六自由度并联机器人位置内环的柔顺力控制策略.综合考虑参数变化、模型变动和外来干扰等不确定性,利用μ综合控制理论设计鲁棒力控制器,并通过μ分析比较鲁棒力控制器和经典力控制器的鲁棒稳定性和鲁棒性能.鲁棒力控制器和经典力控制器的实验结果,表明了所设计鲁棒力控制器的有效性和优越性.
Compliant force control strategy is presented based on the inner loop position control of 6-dof parallel robot in order to simulate pushing and pulling procedure of forcible alignment of space docking. Considering uncertainties such as parameter perturbation, model perturbation and external disturb etc. , robust force controller is designed using μ synthesis theory, Robust stability and robust performance are compared between robust force controller and classical force controllers by μ analysis. Experiment results of robust force controller and classical force controllers show that the designed robust force controller is of efficiency and superiority
出处
《控制与决策》
EI
CSCD
北大核心
2006年第6期651-655,共5页
Control and Decision
基金
教育部新世纪优秀人才支持计划资助(NCET)
