摘要
机器人与运动物体接触的过程包括非接触、接触过渡和接触3个部分。对于机器人与高速运动目标接触等存在较大冲击的应用买例,进行有效的非接触阻抗控制是实现机器人稳定、安全作业的必然要求。这方面的研究是实现机器人捕捉运动物体的关键技术,在工业、军事和航天等领域均有重要意义。本文对冗余度机器人非接触阻抗控制的理论和应用研究的现状进行了详细的综述,并提出了需要进一步深入研究的一些问题。
The contact process between a robot and a moving object include 3 portions: noncontact, contact transition and contact. To achieve stable and safe performance in some case involveing high impact, noncontact impedance control is necessary. This is one of the key technologies for a robot capturing a moving object, and have significant meaning in some fields like industry, military and space. In this paper, the state of the art of noncontact impedance control for redundant robots is surveyed in detail. Several issues are also proposed for further study in the future.
出处
《制造业自动化》
2003年第9期19-22,共4页
Manufacturing Automation
基金
江苏省自然科学基金(BK2002405)
