| 机器人多指手的位置一力混合控制 |
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| 引用本文： | 原魁,于澈,郭峰,袁星军.机器人多指手的位置一力混合控制[J].北京科技大学学报,1998(2). |
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| 作者姓名： | 原魁 于澈 郭峰 袁星军 |
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| 作者单位： | 北京科技大学信息工程学院 |
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| 摘 要： | 分析了一类机器人多指手的动力学模型的特点，针对这类机器人多指手在运动和抓握２个过程中动力学特性有根大差异的特点，提出了１种切实可行的位置─力混合控制方案，并成功的应用于北京科技大学双拇指手控制系统。
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| 关 键 词： | 机器人多指手，控制系统，位置─力混合控制 |
Intelligent Control of Multi-fingered Robot Hand |
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| Yuan Kui ,Yu Che, Guo Feng, Yuan Xingjun.Intelligent Control of Multi-fingered Robot Hand[J].Journal of University of Science and Technology Beijing,1998(2). |
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| Authors: | Yuan Kui Yu Che Guo Feng Yuan Xingjun |
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| Abstract: | The dynamics properties of a kind of multi-fingered robot hand is analyzed.It is pointed out that the dynamics property of this kind of multi-fingered robot hand in the approaching process is quite different from that in the grasping process and, different control algorithm should be taken in the two process. A position-force hybrid control algo- rithm is proposed which is applied to the control system of the University of Science and Technology Beijing double-thumb robot hand successfully. |
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| Keywords: | multi-fingered robot hand control system: position-force hybrid control |
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