| 基于力/速度控制方法的掰手机器人设计 |
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| 引用本文： | 陈峰,余永,葛运建.基于力/速度控制方法的掰手机器人设计[J].哈尔滨工业大学学报,2009(12):266-269. |
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| 作者姓名： | 陈峰 余永 葛运建 |
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| 作者单位： | 中国科学院合肥智能机械研究所;中国科学技术大学 |
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| 基金项目： | 国家自然科学基金资助项目(60875047;2006AA040206;60575054) |
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| 摘 要： | 采用力/速度控制方法,完成了掰手机器人在与人实际掰手腕过程中的拟人化控制任务.根据物体接触后能产生力的特性,分析确立外力和由这些外力所引起的变位量之间的关系,利用质量-弹簧-粘性系统参考模型建立了力与速度的动态关系表达式,在整个过程中,根据所测得的力信息及速度信息实时调整伺服电机的旋转方向及旋转速度,系统有较强的自适应性.并且,测试者可通过选择适合于自身情况的测试等级,使比赛更富有意义.测试结果显示了方法的有效性.
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| 关 键 词： | 娱乐机器人 力/速度控制 质量-弹簧-粘性系统模型 |
Design of the arm wrestling robot based on force/velocity control |
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| CHEN Feng,YU Yong,GE Yun-jian.Design of the arm wrestling robot based on force/velocity control[J].Journal of Harbin Institute of Technology,2009(12):266-269. |
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| Authors: | CHEN Feng YU Yong GE Yun-jian |
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| Affiliation: | 1(1.Institute of Intelligent Machines,Chinese Academy of Sciences,Hefei 230031,China;2.University of Science and Technology of China,Hefei 230026,China) |
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| Abstract: | This paper presents a control strategy of force/velocity controlled arm wrestling robot by analyzing the changes in interaction force between human hand and the robotic arm wrestiling system.According to characteristics of interaction force,the relationship between the outside force and the changes caused by the outside force is analyzed.Then,a dynamic function about the relationship between force and velocity is established based on the mass-spring-viscidity system model.In the arm wrestling competition,the system can adjust the rotating direction and speed of servo motor by using the obtained force and velocity information,which shows the good adaptability of the system.The feasibility of the control strategy is demonstrated by experimental results. |
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| Keywords: | entertainment robot force/velocity control mass-spring-viscidity system model |
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