机械手柔性抓取切换控制系统设计与仿真分析  

Switching control design and simulation analysis of the flexible control system of the manipulator

作　　者：李玉民[1] 

机构地区：[1]南京农业大学工学院,南京210031

出　　处：《国外电子测量技术》2010年第10期30-33,共4页Foreign Electronic Measurement Technology

基　　金：江苏省农机局科研启动基金(gxz08008)项目

摘　　要：为促进柔性抓取机器人在农业工程中的应用,论文讨论了一类机械手柔性抓取的切换控制设计方法。根据压力传感器的反馈情况,将整个机械手终端系统分为开环控制和闭环控制两个步骤。利用在机械手终端系统在开环和闭环之间的切换,使得机械手能够快速抓取物体,且不会损坏物体。仿真试验验证了文中所用控制方法的可行性和有效性。Switching control synthesis for the flexible control system of the manipulator are discussed in order to popularize its application in agricultural engineering. Based on the feedback condition of pressure sensors, the control design is divided into two stage： open loop control and closed loop control. By virtue of the switching between two stages, the manipulator can snatch at the object without breaking it up. Simulation results are employed to verify the efficiency of the proposed method.

关 键 词：机械手 切换控制 柔性抓取 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]