| 受未知环境约束的位控操作机器人臂阻抗力控制 |
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| 引用本文： | 乔兵,陆荣鑑.受未知环境约束的位控操作机器人臂阻抗力控制[J].东南大学学报,2003,19(4):359-363. |
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| 作者姓名： | 乔兵 陆荣鑑 |
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| 作者单位： | [1]南京航空航天大学民航学院，南京210016 [2]南京林业大学机械电子工程学院，南京210037 |
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| 摘 要： | 提出了一种面向位控操作机器人臂的阻抗力控制策略．利用在线力反馈数据对未知约束环境的形状进行估计以获得接触点处的环境切矢和法矢，根据该切矢和法矢实时生成目标阻抗模型的虚拟参考运动轨迹，在力误差信号的驱动下由目标阻抗模型产生机器人的指令运动轨迹，通过跟踪该指令运动轨迹机器人臂能够保持和未知约束环境的接触跟踪并将力误差限制在可接受的范围之内，力误差信号的动态行为与目标阻抗模型一致．为了验证控制策略的未知约束环境跟踪能力和力控制能力，以一个三杆平面机器人为例进行了计算机仿真，并在Adept-3精密装配机器人上进行了玻璃灯泡表面恒力跟踪的实验研究，仿真和实验结果表明中提出的策略具有很好的未知表面跟踪和力控制能力．
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| 关 键 词： | 机器人臂 位控操 阻抗力控制 运动轨迹 计算机仿真 |
Impedance force control for position controlled robotic manipulators under the constraint of unknown environments |
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| Qiao Bing,Lu Rongjian.Impedance force control for position controlled robotic manipulators under the constraint of unknown environments[J].Journal of Southeast University(English Edition),2003,19(4):359-363. |
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| Authors: | Qiao Bing Lu Rongjian |
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| Abstract: | A force control strategy for position controlled robotic manipulators is presented. On line force feedback data are employed to estimate the local shape of the unknown constraint. The estimated vectors are used to generate the virtual reference trajectory for the target impedance model that is driven by the force error to produce command position. By following the command position trajectory the robotic manipulator can follow the unknown constraint surface while keeping an acceptable force error in a manner depicted by the target impedance model. Computer simulation on a 3 linked planar manipulator and experimental studies on an Adept 3, an SCARA type robotic manipulator, are conducted to verify the force tracking capability of the proposed control strategy. |
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| Keywords: | robotic manipulators force/position control unknown constraint |
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