| 机器人多指手的位置一力混合控制 |
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| 引用本文： | 原魁, 于澈, 郭峰, 袁星军. 机器人多指手的位置一力混合控制[J]. 工程科学学报, 1998, 20(2): 183-187. DOI: 10.13374/j.issn1001-053x.1998.02.042 |
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| 作者姓名： | 原魁 于澈 郭峰 袁星军 |
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| 摘 要： | 分析了一类机器人多指手的动力学模型的特点,针对这类机器人多指手在运动和抓握2个过程中动力学特性有根大差异的特点,提出了1种切实可行的位置-力混合控制方案,并成功的应用于北京科技大学双拇指手控制系统。
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| 关 键 词： | 机器人多指手 控制系统 位置─力混合控制 |
| 收稿时间： | 1997-03-25 |
Intelligent Control of Multi-fingered Robot Hand |
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| Yuan Kui, Yu Che, Guo Feng, Yuan Xingjun. Intelligent Control of Multi-fingered Robot Hand[J]. Chinese Journal of Engineering, 1998, 20(2): 183-187. DOI: 10.13374/j.issn1001-053x.1998.02.042 |
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| Authors: | Yuan Kui Yu Che Guo Feng Yuan Xingjun |
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| Abstract: | The dynamics properties of a kind of multi-fingered robot hand is analyzed.It is pointed out that the dynamics property of this kind of multi-fingered robot hand in the approaching process is quite different from that in the grasping process and, different control algorithm should be taken in the two process. A position-force hybrid control algo-rithm is proposed which is applied to the control system of the University of Science and Technology Beijing double-thumb robot hand successfully. |
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| Keywords: | multi-fingered robot hand control system position-force hybrid control |
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