基于Matlab/Simulink机器人力控制系统仿真研究  

Simulation Research of Force Control System for Robotic Manipulators Based on Matlab/Simulink

作　　者：李二超[1] 李战明[1] 李炜[1] 

机构地区：[1]兰州理工大学电气与信息工程学院,甘肃兰州730050

出　　处：《机床与液压》2011年第9期108-110,共3页Machine Tool & Hydraulics

基　　金：国家自然科学基金资助项目(60964003);甘肃省工业过程先进控制重点实验室基金资助项目(XJK0901)

摘　　要：介绍一种在M atlab/S imu link环境下末端与环境接触的机器人力控制仿真方法。将基于S-Function功能实现的系统模型嵌入到S imu link仿真环境中,可简化仿真模型、降低编程难度,这种方法可以推广到其他复杂控制系统的建模。通过对二自由度机器人力控制仿真编写S-Function模块,验证了此方案的实用性。A simulation method of force control was proposed for the robotic manipulator system based on Matlab/Simulink.The system model based on S-Function was embedded into Simulink simulation environment.The model was simplified and the difficulty when designing simulation program was reduced.The method based on S-Function could be generalized to other complicated control system modeling.S-Function programming based on the example of two degree robotic force control was proved efficient.

关 键 词：S-Function模块 机器人 力控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]