| 机器人力控制系统仿真分析 |
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| 引用本文： | 胡建元,黄心汉,陈锦江.机器人力控制系统仿真分析[J].华中科技大学学报(自然科学版),1992(6). |
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| 作者姓名： | 胡建元 黄心汉 陈锦江 |
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| 作者单位： | 华中理工大学自动控制工程系
(胡建元，黄心汉)，华中理工大学自动控制工程系(陈锦江) |
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| 基金项目： | 国家自然科学基金资助项目 |
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| 摘 要： | 本文对由Movemaster-EX机器人和HUST-FS6腕力传感器组成的力控制系统进行了分析,讨论了接触物体和腕力传感器刚度、力反馈矩阵、库仑摩擦以及间隙非线性对整个力控制系统稳定性的影响;引入力的微分反馈有助于增强力控系统的稳定性,用单关节机器人模型进行了仿真研究.结果表明,接触物体综合刚度、力反馈矩阵、库仑摩擦和间隙非线性对力控系统影响很大;引入力微分反馈能改善系统性能.
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| 关 键 词： | 机器人 力控系统 仿真 |
A Simulation Analysis on a Force Control System of Robot |
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| Hu Jianyuan Huang Xinhan Chen Jinjiang.A Simulation Analysis on a Force Control System of Robot[J].JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE,1992(6). |
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| Authors: | Hu Jianyuan Huang Xinhan Chen Jinjiang |
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| Affiliation: | Hu Jianyuan Huang Xinhan Chen Jinjiang |
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| Abstract: | A force control system composed of a Movemaster-EX robot and a HUST-FS6 wrist force sensor is discussed. The effects of environmental stiffness, sensor sensitivity, the coulomb friction and transmission mechanism backlash on the stability of the robot force control system arc analyzed at length. A simulation experiment has been performed on a one joint robot model. The results show that the stiffness of environmental bodies, force feedback matrix, coulomb friction and backlash nonlinearity exert a considerable influence on the force control system of robot and the force differential feedback can improve the stability of the system. |
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| Keywords: | robot force control simulation |
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