机器人触感装置力位解耦控制策略研究

Robot Tactile Device Power Decoupling Control Strategy Research

通过将触感装置关节处的摩擦计入到系统的动力学模型中,在现有的力位补偿方法基础上分别建立摩擦力、重力、惯性力补偿模型进行附加力补偿,对于附加位移也通过建立附加位移模型进行了补偿,从而有效地提高了系统透明性及稳定性,使触感装置的控制精度更高,抗干扰能力更强。

In this article, through the haptic device friction joints in to the system dynamics model, based on the force of the existing compensation methods respectively to establish the friction,gravity,inertia force additional force compensation,compensation model for additional displacement is through the establishment of additional displacement model compensation, so as to effectively improve the system stability,transparency and higher control precision of the haptic device,stronger anti-interference ability.