| 机器人阻抗控制算法的参数调整研究 |
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| 引用本文： | 杨振.机器人阻抗控制算法的参数调整研究[J].枣庄师专学报,2008,25(2):89-93. |
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| 作者姓名： | 杨振 |
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| 作者单位： | 枣庄学院计算机科学系,山东枣庄277160 |
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| 摘 要： | 机器人的阻抗控制策略是目前工业机器人的主要控制方法之一，其主要特点是可以使机械手快速准确的运动到指定位置，控制精度比较高；该控制策略可以通过调整目标阻抗参数使机械手在接触不同的外界环境时达到顺应环境的目标，但在实际运用中阻抗参数的调整原则一直是比较困难的问题，本文通过仿真实验总结了调参规律．
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| 关 键 词： | 机器人 阻抗控制 阻抗参数 |
| 文章编号： | 1004-7077(2008)02-0089-05 |
| 修稿时间： | 2007年11月28 |
An Research on the Adjustment of Parameters of Robot Based on the Impedance Control |
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| YANG Zhen.An Research on the Adjustment of Parameters of Robot Based on the Impedance Control[J].Journal of Zaozhuang Teachers' College,2008,25(2):89-93. |
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| Authors: | YANG Zhen |
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| Institution: | YANG Zhen ( Department of Computer Science, Zaozhuang University, Zaozhuang 277160, China) |
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| Abstract: | The Algorithm of impedance control on robots is currently one of methods. Its main characteristic is that it can make manipulators move to the appointed position quickly and accurately. It can attain the goal of making manipulators humor the environment when they contact the external world. But in fact it is very difficult to find a reasonable rule of adjusting the impedance parameter. This article tries to summarize the rule by simulating. |
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| Keywords: | robot impedance control impedance parameter |
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