鲁棒被动计算转矩控制在触觉人机交互系统中的应用

Edgar R. Ponce-de-Leon-Sanchez, Itzel Trejo-Mota, O. Dominguez-Ramirez
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引用次数: 0

摘要

本文提出了一种基于无源理论和能量分析的运动控制策略设计,并将其应用于欧拉-拉格朗日(E-L)系统,特别是机器人操作器和触觉装置。机器人结构的性能取决于其工作空间中调节动作或轨迹跟踪的运动控制技术的合理设计。为了证明无源性和稳定性结果,我们在实验平台上对控制策略进行了评估,在我们的案例中是PHANToM premium 1.0触觉设备[4]。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Robust Passive Computed Torque Control Applied to Haptic Human-Machine Interaction Systems
This paper presents the design of a motion control strategy based on passivity theory and energy analysis applied to Euler-Lagrange (E-L) systems, particularly to robot manipulators and with purpose to haptic devices. The performance of a robotic structure depends of a proper design of a motion control technique in a regulation action or trajectory tracking in its workspace. With the purpose to proof the passivity and stability results, the control strategy is evaluated in a experimental platform, in our case the PHANToM premium 1.0 haptic device [4].
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