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从力位耦合的角度,分析了机器人操作器工作空间动态参数和期望的暂态响应对混合力位控制方案中力位增益选择的影响。结果保证了控制稳定和鲁棒性,并指出了其物理意义。
From the perspective of force-position coupling, the influence of the dynamic parameters of the workspace of the robot manipulator and the expected transient response on the choice of force-gain in the hybrid control scheme is analyzed. The result guarantees the stability and robustness of the control, and points out its physical significance.