摘要
本文首先回顾了力控制技术的发展,对在操作空间一级实现力和位置混合控制的算法做了说明。着重分析了在约束空间中系统的动、静态行为。指出了环境刚度对主动力控制系统动态行为的影响,以及关节摩擦对力控制精度的影响。
In this paper we review the advance of the force control techniques and explain the algorithms in real-ization of hybrid force / position control in operational space. We focus our analysis on the dynamic andstatic behavior of the systems in constraint space, and point out the effect of environmental stiffness ondynamic behavior of the active force control system and the influence of joint friction on the precision ofthe force control.
出处
《机器人》
EI
CSCD
北大核心
1991年第S1期1-6,14,共7页
Robot