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本文研究了理想情形下一类机器人适从运动的混合控制。对于一个机械臂手端与刚性环境发生光滑接触的类型,本文给出了一种约束描述,并进行分析。在此基础上,通过将控制变量分成两个分属于相互垂直的子空间的控制:力控制和运动控制,将机械臂动力学方程分裂成两个。一个用于力控制,另一个用于运动控制。从而对混合控制的思想有了更好的理解,使力控制和运动控制的设计能单独分别进行,为寻找混合控制提供了简便途径。
In this paper, we study the hybrid control of a class of adaptive robot in an ideal situation. For a type of manipulator with smooth contact with the rigid environment, a constraint description is given and analyzed. Based on this, the robot dynamics equations are split into two by dividing the control variables into two sub-space controls which belong to mutually perpendicular: force control and motion control. One for force control and the other for motion control. Thus, the idea of hybrid control can be better understood, and the design of force control and motion control can be carried out separately, which provides a convenient way to find hybrid control.