具有力控制的实验性触觉装置

K. Wen, D. Necsulescu, J. Sasiadek
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引用次数: 1

摘要

力控制是机器人控制系统的重要组成部分。力的控制主要有两种方法:阻抗控制和导纳控制。本文提出了一种阻抗法验证的实验装置。阻抗控制的基础是假设测量了操作者的运动输入,然后将反作用力反馈给操作者。通过实验验证了阻抗法在实际应用中的适用性及其在触觉装置中的适用性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Experimental haptic device with force control
The force control is important part of robot control systems. There are two main methods of force control: impedance and admittance control. This paper presents an experimental set-up for impedance method verification. The impedance control is based on the assumption that the operator motion input is measured, and subsequently, the reaction force is fed back to the operator. Several experiments were performed to verify the suitability of impedance method in practice and its applicability in a haptic device.
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