SIA OpenIR  > 其他
Alternative TitleForce Tracking Stiffness Control for the Position-Based Industrial Robot
吴炳龙1,2; 曲道奎1,3; 徐方1,3
Source Publication机械设计与制造
Contribution Rank1
Funding Organization辽宁省科技创新重大专项(113003)
Keyword机器人 力控制 显式力控制 阻抗控制 力跟踪阻抗控制 柔顺控制
Other AbstractWith the development of robot technology,robots are required to complete more complex tasks,such as industrial robot grinding,precision assembly,human-robot interaction,therefore the ability of the robot interacts with the environment is becoming more and more important. But the current compliance control method has limitations,unlike humans,we have a strong ability to adapt to the external environment at any moments (impedance performance),and can apply force what we need to the external environment (force tracking performance). In order to solve this problem,a new force tracking impedance control method was proposed,this method can make robots get impedance performance and force tracking performance. The structure of this control system is simple and have good practicability. Control system establishment is based on the model of position-based industrial robot,and then done the simulation experiments,the experimental results show that the robot not only have the characteristics of stiffness control which made robot with compliance to the external environmental constraints, but also can tracking the desired force under different environmental constraints.
Document Type期刊论文
Corresponding Author吴炳龙
Recommended Citation
GB/T 7714
吴炳龙,曲道奎,徐方. 基于位置控制的工业机器人力跟踪刚度控制[J]. 机械设计与制造,2019(1):219-222.
APA 吴炳龙,曲道奎,&徐方.(2019).基于位置控制的工业机器人力跟踪刚度控制.机械设计与制造(1),219-222.
MLA 吴炳龙,et al."基于位置控制的工业机器人力跟踪刚度控制".机械设计与制造 .1(2019):219-222.
Files in This Item:
File Name/Size DocType Version Access License
基于位置控制的工业机器人力跟踪刚度控制.(846KB)期刊论文出版稿开放获取CC BY-NC-SAView Application Full Text
Related Services
Recommend this item
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[吴炳龙]'s Articles
[曲道奎]'s Articles
[徐方]'s Articles
Baidu academic
Similar articles in Baidu academic
[吴炳龙]'s Articles
[曲道奎]'s Articles
[徐方]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[吴炳龙]'s Articles
[曲道奎]'s Articles
[徐方]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: 基于位置控制的工业机器人力跟踪刚度控制.pdf
Format: Adobe PDF
All comments (0)
No comment.

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.