面向位控机器人的力/位混合控制

本文提出了一种面向位控机器人的力/位混合控制策略．通过力反馈信息对未知约 束进行估计获得位控和力控方向，根据位控和力控方向对机器人终端的运动轨迹进行规划， 并采用阻抗力控制规律以使机器人获得较好的柔顺性．仿真试验表明，该策略具有较高的力 控制精度和表面跟踪能力．

HYBRID FORCE POSITION CONTROL FOR POSITION-CONTROLLED ROBOTIC MANIPULATORS

This paper presents a hybrid force position control strategy for position controlled robotic manipulator. On line force feedback data are employed to estimate the local shape of constraint. The estimated vectors are used to generate the virtual reference trajectory for the target impedance model, which is driven by the force error to produce a command position to the manipulator. By following the commanded position trajectory the robotic manipulator can follow unknown constraint surface while keeping an acceptable force error in a manner depicted by the target impedance model. Computer simulation is conducted to verify its force tracking capability.