基于位置内环的柔顺力控制的研究  

On Compliant Force Control Based on Inner Position Loop

作　　者：叶正茂[1] 赵慧[2] 张尚盈[1] 韩俊伟[1] 

机构地区：[1]哈尔滨工业大学机电工程学院,哈尔滨150001 [2]武汉科技大学机械自动化学院,武汉430081

出　　处：《控制与决策》2006年第6期651-655,共5页Control and Decision

基　　金：教育部新世纪优秀人才支持计划资助(NCET)

摘　　要：为模拟空间对接强制校正阶段的推出和拉近过程,提出基于六自由度并联机器人位置内环的柔顺力控制策略.综合考虑参数变化、模型变动和外来干扰等不确定性,利用μ综合控制理论设计鲁棒力控制器,并通过μ分析比较鲁棒力控制器和经典力控制器的鲁棒稳定性和鲁棒性能.鲁棒力控制器和经典力控制器的实验结果,表明了所设计鲁棒力控制器的有效性和优越性.Compliant force control strategy is presented based on the inner loop position control of 6-dof parallel robot in order to simulate pushing and pulling procedure of forcible alignment of space docking. Considering uncertainties such as parameter perturbation, model perturbation and external disturb etc. , robust force controller is designed using μ synthesis theory, Robust stability and robust performance are compared between robust force controller and classical force controllers by μ analysis. Experiment results of robust force controller and classical force controllers show that the designed robust force controller is of efficiency and superiority

关 键 词：六自由度并联机器人 Μ综合 Μ分析 柔顺力控制 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]