两平面机器人升降的协调问题

IEEE J. Robotics Autom. Pub Date : 1988-02-01 DOI:10.1109/56.774

K. Laroussi, H. Hemami, R. Goddard

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引用次数: 43

摘要

建立了有载荷和无载荷两机器人系统的动力学方程。为了控制的目的，约束力被导出为输入和状态的函数。采用逆plant法和约束力的计算来协调系统的控制。不考虑压力或力传感器，也不使用力反馈。通过数字计算机仿真验证了所提出的点对点运动协调机器人执行起重任务控制策略的有效性。>

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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Coordination of two planar robots in lifting

The dynamic equations for a two-robot system with and without load are formulated. For control purposes, the constraint forces are derived as functions of input and state. The inverse plant method and computation of the constraint forces are used to coordinate the control of the system. No pressure or force sensors are considered, and no force feedback is used. The effectiveness of the control strategy for point-to-point motion of the coordinated robots performing a lifting task is checked by digital computer simulations. >

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IEEE J. Robotics Autom.

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