| 引用本文: | 高为炳,程 勉,肖笛.有环境约束时完成一族跟踪任务的力控制[J].控制理论与应用,1994,11(1):40~50.[点击复制] |
| GAO Weibing, CHENG Mian and XIAO Di.Force Control for Tracking a Set of Tasks in Presence of Constraints[J].Control Theory and Technology,1994,11(1):40~50.[点击复制] |
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| 有环境约束时完成一族跟踪任务的力控制 |
| Force Control for Tracking a Set of Tasks in Presence of Constraints |
| 摘要点击 780 全文点击 387 投稿时间：1992-07-15 修订日期：1993-01-08 |
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| DOI编号 |
| 1994,11(1):40-50 |
| 中文关键词 有约束机器人控制 反作用力控制 一族跟踪控制 混合控制 递阶控制 |
| 英文关键词 robot control with constraints control of the reactive force tracking a set of tasks hybrid control hierarchical control |
| 基金项目 |
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| 中文摘要 |
| 对机器人执行跟踪控制任务提出了一种新方案。当机器人的运动受到环境约束时用这一控制可执行一族跟踪任务，因为采用了相对速度表示的约束模型，力控制与约束运动控制能自动分解。具体给出了两种力控制律。此外，对于复杂的控制任务建立了递阶的控制结构。 |
| 英文摘要 |
| A new approach to tracking tasks by robots in the presence of environmental constraints in proposed. Since the dynamic equations of a rigid object are written in a component form with respect to axes fixed with the object, a new model of constraints is given in a very simple form as linear functions of velocity components. As a result, the system of differential equations of motion of the object is automatically decomposed into two subsystems: equations of motion and equations of reactive force. Two force feedback schemes are developed. A hierarchical architecture is established for the overall control strategy such that the robot can track a set of different object for different desired motions. |