基于无源性的不确定机器人的力控制  

Force control of uncertain robot based on the passivity

作　　者：温淑焕[1] 袁俊英[1] 

机构地区：[1]燕山大学电气工程学院工业计算机控制工程河北省重点实验室,秦皇岛066004

出　　处：《物理学报》2010年第3期1615-1619,共5页Acta Physica Sinica

基　　金：河北省科技攻关项目(批准号:07213526);燕山大学博士基金(批准号:B168)资助的课题~~

摘　　要：根据无源性理论,从一个较新的角度对机器人系统的力控制问题进行了研究.一个严格无源的动态系统一般具有良好的动态特性和较强的鲁棒性.因此在力控制中采用无源化方法对力控制器进行设计.对于机器人建模的不准确性及环境的影响,本文采用在力控制回路中加入一个补偿项来补偿模型的不确定性.仿真结果表明这种控制方案使系统获得了较好的动态性能和较强的鲁棒性.According to the theory of passivity, the force control on the robot system is studied from a relatively new perspective. In general, a strictly passive dynamic system has a good dynamic characteristics and robustness. Therefore, a passive approach to force control is presented in the force controller design. In view of the uncertainty and environmental impacts in robot modeling, the paper adds a compensation term to compensate for model uncertainty in force control loop . The simulation results show that this control program enhances the dynamic performance and robustness of the system.

关 键 词：机器人 力控制 无源性 鲁棒性 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]