基于广义逆矩阵的机器人力与位置混合控制

推导了具有运动约束的机器人的拉格朗日动力学方程，该方程中包含了广义约束力。广义约束力被表达为机器人系统状态变量和广义输入力的显函数，力信息由此获得，因此无须使用力传感器即可同时控制机器人的力和位置。利用动力学冗余度（广义输入力的数目大于广义约束力的数目），设计了基于广义逆矩阵的力与位置混合控制器。控制仿真结果表明，该控制方法具有较高的精度和较好的稳定性。

Hybrid Force and Position Control of Robots Based on Pseudo Inverse Matrix

Lagrangian dynamic equations of a robot with kinematic constraints are derived, in which generalized constraint forces are included. The generalized constraint forces are then expressed as an explicit function of the state variables and generalized input forces, from which force information is therefore obtained. Accordingly, the simultaneous control of force and position of the robot can be achieved without any force sensors to be used. The dynamic redundancy (i.e. the number of generalized input forces is greater than that of generalized constraint forces.) is used to design the hybrid force and position controller based on the pseudo inverse matrix. The results from the controlling simulation indicate that this controlling method is of high precision and good stability.