磨削机械手约束运动的力/位置混合控制

Hybrid Position/Force Control of Constrained Motions of a Grinding Manipulator

分析了磨削机械手的运动约束，建立了有约束动力学模型，提出了一种不用力反馈传感器的新型力／位置混合控制方案，并通过仿真验证了该方案的有效性。

The motions of constrained dynamic system of a grinding robot is firstly modeled in this paper. Then , a new hybrid position/force controller for the grinding robot is constructed without using force feedback sensors.Simulations have been done for testing the feasibility of the controller by taking a planar two link grinding manipulator as an example. The results show that the controller is accurate,fast responsive and stable.