一种基于运动状态反馈的机器人接触力控制

ROBOT TRANSITION CONTROL BASED ON STATES FEEDBACK

针对机器人从自由空间运动控制过渡到约束空间力控制的过程中，存在冲撞、振荡甚至不稳定等问题，提出了利用加速度反馈为力控制提供阻尼，克服单纯依靠速度反馈的局限，进而稳定力控制系统的方法．这种方法不增加系统的复杂性，易于实现．本文对控制系统结构及控制策略作了分析．在一个直接驱动关节上的实验结果证明了本文分析的正确性，与只采用速度反馈的接触力控制相比。

This paper proposes to utilize joint acceleration feedback control for robot to damped oscillations during the transition from free motion phase to constrained phase when the approaching speed is non zero and the environment is stiff. Both system structure and control algorithms are analyzed. Experimental results are presented and compared with those without joint acceleration feedback demonstrate the improvement of the proposed scheme.