摘要
本文介绍了直接柔顺控制的概念,给出了平面柔顺机构的关节刚度与手端刚度的关系式,讨论了关节刚度可为负值的情况下,机构的稳定性以及机构奇异位形对各关节刚度的影响.
In this paper,the concept of Direct Compliance Control is described,and the relation between the compli-ance of the end-effector and that of each joint is formulated for a parallel link arm.The stability of mecha-nism and the efection of singular confinguration on cach joint stiffness are also discussed with negative stiff-ness joint.
出处
《机器人》
EI
CSCD
北大核心
1993年第2期13-18,27,共7页
Robot
基金
国家科委863计划
