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一种具有工具重力补偿功能的机械臂力控牵引方法 被引量:1
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作者 李宁 孟繁乐 +2 位作者 曾柏伟 丁辉 王广志 《北京生物医学工程》 2017年第1期1-8,共8页
目的本文根据多自由度机械臂在外科手术、康复训练中与操作人员进行实时力位交互的需求,设计了一种具有工具重力补偿功能的机械臂力控牵引方法。方法首先通过安装在机械臂末端的六自由度力传感器检测作用在末端工具上的牵引力,然后应用... 目的本文根据多自由度机械臂在外科手术、康复训练中与操作人员进行实时力位交互的需求,设计了一种具有工具重力补偿功能的机械臂力控牵引方法。方法首先通过安装在机械臂末端的六自由度力传感器检测作用在末端工具上的牵引力,然后应用上位机中的力-位与力-速控制算法将力信息转化为机械臂末端预期位姿偏移量并更新机械臂末端运动速度,进而控制机械臂沿受力方向运动。本文进一步提出一种末端工具重力补偿算法,能够有效补偿机械臂末端工具重力在力传感器上的偏差值。结果实验模拟无框架立体定向手术的患者注册环节,在无牵引力作用时上位机补偿后的外力值控制在±0.2N以内,最大力控循环采样率30Hz,最大系统延迟52ms。结论通过牵引力控制能够方便地对机械臂实现力控牵引摆位及运动过程中的紧急避障,重力补偿效果明显。 展开更多
关键词 串联型机械臂 机械臂控制 力控牵引 紧急避障 重力补偿
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Wide speed range for traction motor in braking force of electric braking control system 被引量:2
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作者 Young-Choon Kim Moon-Taek Cho 《Journal of Central South University》 SCIE EI CAS 2014年第10期3837-3843,共7页
A vehicle stopping method using an electric brake until a traction motor is stopped is studied. At the moment of vehicle stop, electric brake is changed to control mode where torque is reduced at a low speed. Gradient... A vehicle stopping method using an electric brake until a traction motor is stopped is studied. At the moment of vehicle stop, electric brake is changed to control mode where torque is reduced at a low speed. Gradient is controlled by estimating the load torque of motor, thereby traction motor is not rotated after stop. In addition, coasting operation and brake test are performed from normal-opposite operation and start using a small-scale model comprising the inertial load equipment and the power converter. Further, traction motor is made to be equipped with a suspension torque. Pure electric braking that makes traction motor stop by an air brake at the time of stop is also implemented. Constant torque range and constant power range are expanded during braking so that braking force is secured with the electric brakes even in high speed region. Therefore, vehicle reduction effect can be expected by reducing parts related with an air brake which is not used frequently by using a pure electric brake in the M car in wide speed region. Further, maintenance of brake system can be reduced. Besides, ride comfort of passenger in the electric rail car, energy efficiency improvement, and noise reduction effect can be additionally expected. Further, an improved brake method that uses only an electric brake till motor stop is proposed by comparing those in the blending brake that uses an air brake while reducing brake torque at vehicle stop. 展开更多
关键词 wide speed range electric braking control traction motor
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