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| 带有应力传感器的机械手操作控制研究 | |
| 引用本文： | 邓宇,梁飞华,岑健,邢镇容.带有应力传感器的机械手操作控制研究[J].茂名学院学报,2004,14(4):45-48. |
| 作者姓名： | 邓宇 梁飞华 岑健 邢镇容 |
| 作者单位： | 1. 茂名学院机电学院 2. 茂名学院计算机与电子信息学院,广东,茂名,525000 3. 太原理工大学,山西,太原,030024 |
| 摘 要： | 讨论带有应力传感器的机械手在操作过程中抓取工件时的反馈控制问题。该系统基于离散动力学模型，采用计算机控制，使用线性二次型高斯调节器。研究中充分考虑了机械手在操作过程中与工件接触时，手爪机构的弹性和接触点与机械手之间的相对运动。实践表明，这些措施能够很好地改善系统的过渡过程品质。 |
| 关 键 词： | 应力传感器 机械手 离散动力学模型 |
| 文章编号： | 1671-6590(2004)04-0045-04 |
| 修稿时间： | 2004年9月6日 |
Control of Manipulator with Effort Sensor |
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| DENG Yu,LIANG Fei-hua,CHENG Jian,XING Zen-rong.Control of Manipulator with Effort Sensor[J].Journal of Maoming College,2004,14(4):45-48. | |
| Authors: | DENG Yu LIANG Fei-hua CHENG Jian XING Zen-rong |
| Institution: | DENG Yu~1,LIANG Fei-hua~1,CHENG Jian~2,XING Zen-rong~3 |
| Abstract: | This paper is to discuss a dynamic feedback of control of a manipulator with a stress sensor. The control loop includes a digital computer and the design relies on a discrete-time model of the system dynamics. The model is linear and recognizes elasticity of the manipulator structure (support) and the motion of the point where the object is contacted. The controller is designed in a linear-quadratic-Gaussian procedure. Despite the discrepancy between the linear model and nonlinear properties of the actual system, the performance of transient processes is improved in the experiment. |
| Keywords: | effort sensor manipulator a discrete-time model of the system dynamics |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ | |