一种受限机械手的自适应力/位置控制方法

An Adaptive Force/Position Scheme for Constrained Robot Manipulators

对于受限机械臂,本文提出了一种自适应的力/位置控制方法。其实现是基于给出的新的降阶动力学模型,在反馈信号中引入力的累积误差信号,利用降阶模型的本身特性从而达到自适应力/位置控制的目的。给出的自适应律是通过跟踪误差信号来调节的。仿真结果证实了本方法的正确性。

An adaptive force/ position control scheme is presented for constrained robot manipulator.The development of the algorithm is based on a new formulation of the dynamic model and the expansion of feedback signals to include the accumulated constraint force errors.By exploiting the properties of this new formula,the adaptive force/position control algorithm is obtained,where the adaptive law is adjusted by tracking errors.Simulation result verifies the correctness of the proposed method.