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柔性机器人关节位置与阻抗一致性控制方法
Authors
刘清华
王冲冲
陈庆盈
Publication date
30 November 2018
Publisher
Abstract
用于人机协作的柔性一体化关节是下一代工业机器人发展的重点。本文针对实验室开发的一体化关节的控制进行详细讨论,在传统PD控制的基础上引入力矩反馈,详细讨论了力矩环的引入对于柔性关节动力学特性的影响。对于柔性一体化关节提出位置、阻抗一致性控制方法,该控制器在高的控制增益时能实现位置控制,在低控制增益时实现阻抗控制。最后通过实验验证了该控制器的有效性
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Last time updated on 27/12/2019