| 机器人手端与外界作用时的控制 |
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| 引用本文： | 胡昌军.机器人手端与外界作用时的控制[J].机电工程,2006,23(10):57-59. |
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| 作者姓名： | 胡昌军 |
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| 作者单位： | 池州学院,机电工程系,安徽,池州,247000 |
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| 摘 要： | 讨论了在机器人作业过程中手端与外界相互作用时,位置与力单独控制的有关问题,提出了它们的缺陷———实际的约束环境与给定的约束环境不符时,会出现控制的不确定现象。针对这一现象,提出了采用刚性控制可以较好地解决这一问题。
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| 关 键 词： | 自然约束 自然位置约束 自然力约束 人为约束 刚性控制 |
| 文章编号： | 1001-4551(2006)10-0057-03 |
| 收稿时间： | 2006-05-18 |
| 修稿时间： | 2006年5月18日 |
Controls of reciprocity between robert's hand and surroundings |
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| HU Chang-jun.Controls of reciprocity between robert''''s hand and surroundings[J].Mechanical & Electrical Engineering Magazine,2006,23(10):57-59. |
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| Authors: | HU Chang-jun |
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| Affiliation: | Department of Mechanical and Electronic Engineering, Chizhou University, Chizhou 247000, China |
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| Abstract: | The problem of position or force single-control when the robert's hand and surroundings act each other in the course of robert operating was discussed,and their shortage was showed.It will appear uncertainty in control when actural constraint condition is not according with the given constraint condition.To this uncertain phenomenon the rigidity control can solve this problem well was provided. |
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| Keywords: | natural restraint natural location restraint natural force restraint artificial restraint rigidity control |
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