摘要
简述了机器人力控制发展历史以及研究现状,分析了现有的主流力控制策略:阻抗控制、力/位混合控制、自适应控制和智能控制。进一步阐述了主流控制策略的优缺点以及实用性,指出了力控制所面临的问题,即位置伺服、鲁棒性和未知环境对力控制的影响以及力传感器的精确反馈问题,提出了智能控制必然是机器人力控制的发展趋势。
This paper briefly introduced the historical development and research status of robotic force control and analyzed currently existing mainstream force control strategies,including impedance control,force-position hybrid control,self-adaption control and intelligent control.Then the paper further elaborated the advantages and disadvantages and practicality of the mainstream control strategies.Moreover,it indicated the problem occurs to force control that the position servo,robustness and unknown environment have effect on force control as well as the accuracy response problem of force sensor.Finally,the paper noticed that intelligent control must be the development trend of robot force control.
作者
王志军
武东杰
赵震
WANG Zhi-jun;WU Dong-jie;ZHAO Zhen(College of Mechanical Engineering,North China University of Science and Technology,Tangshan 063000,China)
出处
《机械工程与自动化》
2018年第2期223-224,共2页
Mechanical Engineering & Automation
基金
国家自然科学基金资助项目(51505124)
河北省自然科学基金资助项目(E2016209312)
华北理工大学培育基金项目(JP201505)
关键词
机器人
柔顺控制
力控制
位置控制
robot
impedance Control
force control
position control
