摘要
针对五自由度特种机器人在目标捕获过程中的应用,为提高机器人末端执行器的位置精度,本文采用阻抗控制研究方法对特种机器人进行力控制研究。基于MATLAB/Simulink建立阻抗控制仿真模型,进行仿真验证。仿真结果表明,采用阻抗控制方法可以补偿机器人手臂位置控制的误差,从而保证机器人手臂对目标的捕获精度。
For the application of 5-DOF special robots in the target acquisition process,to improve the position precision of the robot end actuator,the article adopt the method of impedance control for special robot force control. The simulation model of impedance control was established based on Matlab/Simulink,and then the simulation carried on. Simulation results show that impedance control method which the article adopted can compensate the robot arm＇s position error,accordingly ensuring the accuracy of the robot arm to capture the target.
出处
《现代制造技术与装备》
2015年第6期61-62,64,共3页
Modern Manufacturing Technology and Equipment
