力-位置混合控制机器人工作任务描述中的几个问题

Some Problems in Task Specification of Hybrid Force/Position Control Robots

对力－位置混合控制机器人工作任务描述中的几个关键问题进行了较细致的研究，分析了机器人与操作对象间相互作用力产生的原因，讨论了工作任务的伪完成态问题，并对工作任务描述的完整性问题作了进一步的研究。研究结果表明只有掌握了工作任务描述的实质，并对任务执行过程有深入、完整的了解，才能圆满地完成工作任务描述工作。

Task specification is the first problem to besolved in the application of hybrid force/position controlrobot. The result of the specification determines directlyif the task will be executed successfully. In this paperseveral main problems are discussed in task specificationof hybrid force/position control robots. It is analyzedwhy interactive forces are produced, when and how tosolve the problem of false finish of the task, and how toget a complete specification of task. It is concluded that asuccessful specification of task is based on complete mastery of the essence of the specification and deep researchon task execution process