Adaptive Impedance-controlled Manipulator Based on Collision Detection  

基于碰撞检测的自适应阻抗控制机械臂系统(英文)

作　　者：黄剑斌[1] 谢宗武[1] 金明河[1] 蒋再男[1] 刘宏[1] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室

出　　处：《Chinese Journal of Aeronautics》2009年第1期105-112,共8页中国航空学报（英文版）

基　　金：National Natural Science Foundation of China (60675054);National High Technology Research and Development Program of China (2006AA04Z228);"111" Project (B07018)

摘　　要：This article provides a flexible-joint-manipulator,which incorporates with three means to make its mechanical arm come into compliant contact with the objects with a force kept within an acceptable range. At first,the Cartesian impedance control law is introduced on the basis of virtual decomposition to realize the compliance control. Then,adaptive dynamic joint compensators on all joints are used to achieve more precise control. Finally,a Cartesian force-feedback path generation is developed for collision ...This article provides a flexible-joint-manipulator,which incorporates with three means to make its mechanical arm come into compliant contact with the objects with a force kept within an acceptable range. At first,the Cartesian impedance control law is introduced on the basis of virtual decomposition to realize the compliance control. Then,adaptive dynamic joint compensators on all joints are used to achieve more precise control. Finally,a Cartesian force-feedback path generation is developed for collision ...

关 键 词：flexible manipulators impedance control collision avoidance adaptive control systems trajectories safety systems 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]