| 引用本文: | 王洪瑞，吕应权，宋维公.基于物体目标阻抗的多指手协调混合阻抗控制的研究[J].控制理论与应用,1999,16(4):603~606.[点击复制] |
| Wang Hongrui，Lu Yingquan，Song Weigong.Coordinated Hybrid Impedance Control of Multifingered Hand Based on Object Impedance[J].Control Theory and Technology,1999,16(4):603~606.[点击复制] |
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| 基于物体目标阻抗的多指手协调混合阻抗控制的研究 |
| Coordinated Hybrid Impedance Control of Multifingered Hand Based on Object Impedance |
| 摘要点击 813 全文点击 406 投稿时间：1996-12-09 修订日期：1998-06-05 |
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| DOI编号 |
| 1999,16(4):603-606 |
| 中文关键词 协调控制 混合阻抗控制 BH-1灵巧手 |
| 英文关键词 coordinated control hybrid impedance control BH-1 dextrous hand |
| 基金项目 |
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| 中文摘要 |
| 本文在多指手协调控制的基础上，提出了协调混合阻抗控制方法.在不同方向引人位置或力控制的物体目标阻抗，根据多指手协调控制的动力学方程设计计算力矩控制器，并对BH-1手抓持物体在自由空间和受限空间运动进行了仿真研究.结果表明，采用协调混合阻抗控制可使物体在被抓持过程中按期望的位置和力轨迹运动，且具有较好的动态性能. |
| 英文摘要 |
| Based on coordinated control of multifingered hand，this paper presents coordinated hybrid impedance control.It proposes the desired impedance of object along different dimension.According to the coordinated control dynamics equation of the hand it designs the computer-torque controller.Finally，the simulation of the object，s motion in free and constrained space are give.The result indicates that the object，s position and force can be controlled at the same time by this method，and its dynamic property is verified to be desirable. |