受限柔性机器人的模型降阶及变结构力／位置控制

研究了具有柔性前臂的两连杆柔性机器人的混合力／位置控制问题。首先，利用奇异值分解法对所给出的受限柔性机器人模型进行分解，再利用伪逆的概念引入一个新的降阶坐标使各子系统降价，并分别对各子系统进行力控制器和位置控制器的设计。为了获得对拟静态假设的鲁棒补偿，对位置控制器采用变结构控制并进行了理论论明。最后，通过仿真进一步验证了本方案高精度性和强鲁棒性。

Model Reduction and Variable Structure Position/Force Control of Constrained Flexible Robots

The hybrid position/force control of constrained flexible robots is studied in this paper. Firstly, the modeling of constrained flexible robots is decomposed by using singular value decom- position method. Then the use of pseudo inverse achieves a systematic reduction of the system or- der of constrained flexible robots. At last, a variable structure controller is designed for position control in order to obtain the robust compensation.