力约束协作机器人控制策略的比较

[1991] Proceedings of the 30th IEEE Conference on Decision and Control Pub Date : 1991-12-11 DOI:10.1109/CDC.1991.261402

G. Duelen, H. Munch, Y. Zhang

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引用次数: 4

摘要

提出了一种力约束协作机器人的高效混合控制方法。整个控制方案主要由两个控制层组成;集中协调，分散控制执行。集中协调处理任务空间、关节空间和末端效应坐标系之间的坐标向量和力向量的变换。在关节空间中实现了分散控制执行。对关节空间中的力和位置控制器采用比例积分控制律。通过对典型协作机器人系统的仿真，将混合控制方案与单独位置控制和主从控制进行了比较，并以两个六关节工业机器人执行示例任务。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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A comparison of control strategies for force constrained cooperating robots

An efficient hybrid control concept for force-constrained cooperating robots is presented. The entire control scheme is principally composed of two control levels; centralized coordination and decentralized control execution. The centralized coordination deals with the transformation of the coordinate vectors and the force vectors among the task space, the joint space and the end effect frames. Decentralized control execution is achieved in joint space. The authors adopt a proportional-integral (PI) control law for the force and the position controller in the joint space. The hybrid control scheme is compared with separate position control and master/slave control by simulation on typical cooperating robot systems with two six-jointed industrial robots carryout out exemplary tasks.<>

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[1991] Proceedings of the 30th IEEE Conference on Decision and Control

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