| 引用本文: | 芦 俊, 颜景平, 陈俊杰.基于自适应阻抗控制的轴孔装配方法[J].控制理论与应用,2003,20(1):85~88.[点击复制] |
| LU Jun, YAN Jing-ping, CHEN Jun-jie.Peg-in-hole insertion method based on adaptive impedance control[J].Control Theory and Technology,2003,20(1):85~88.[点击复制] |
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| 基于自适应阻抗控制的轴孔装配方法 |
| Peg-in-hole insertion method based on adaptive impedance control |
| 摘要点击 3029 全文点击 1688 投稿时间：2001-09-10 修订日期：2002-03-13 |
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| DOI编号 |
| 2003,20(1):85-88 |
| 中文关键词 机器人 插轴入孔 自适应阻抗控制 位置调整 |
| 英文关键词 robot peg-in-hole insertion adaptive impedance control position modification |
| 基金项目 国家计委211工程(2102002001)资助项目 |
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| 中文摘要 |
| 提出了一种基于自适应阻抗控制的轴孔装配方法,它能根据得到的力信息,按照自适应调整律对机器人末端的参考位置进行修正,使得轴始终朝着减小卡阻力的方向运动,最终完成插轴入孔的动作.其算法简单,计算量小,修正量的计算可以在线进行,故能满足实时控制的要求.仿真结果表明了这种方法的有效性. |
| 英文摘要 |
| A peg-in-hole insertion method based on adaptive impedance control is presented. The reference position of robot end-effector is modified according to force information through adaptation law, which makes the peg move in the direction that reduces jamming forces, and finally the insertion is accomplished. This method is simple and the modification can be computed on-line, so it satisfies the requirement of real-time control. Simulation results are given to verify its effectiveness. |
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