摘要
本文对由Movemaster-EX机器人和HUST-FS6腕力传感器组成的力控制系统进行了分析,讨论了接触物体和腕力传感器刚度、力反馈矩阵、库仑摩擦以及间隙非线性对整个力控制系统稳定性的影响;引入力的微分反馈有助于增强力控系统的稳定性,用单关节机器人模型进行了仿真研究.结果表明,接触物体综合刚度、力反馈矩阵、库仑摩擦和间隙非线性对力控系统影响很大;引入力微分反馈能改善系统性能.
A force control system composed of a Movemaster-EX robot and a HUST-FS6 wrist force sensor is discussed. The effects of environmental stiffness, sensor sensitivity, the coulomb friction and transmission mechanism backlash on the stability of the robot force control system arc analyzed at length. A simulation experiment has been performed on a one joint robot model. The results show that the stiffness of environmental bodies, force feedback matrix, coulomb friction and backlash nonlinearity exert a considerable influence on the force control system of robot and the force differential feedback can improve the stability of the system.
出处
《华中理工大学学报》
CSCD
北大核心
1992年第6期135-138,共4页
Journal of Huazhong University of Science and Technology
基金
国家自然科学基金资助项目
关键词
机器人
力控系统
仿真
robot
force control
simulation
