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。
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.
出处
《北京科技大学学报》
EI
CAS
CSCD
北大核心
1998年第2期183-187,共5页
Journal of University of Science and Technology Beijing
基金
国家"863"基金
关键词
机器人多指手
控制系统
位置
力
混合控制
multi-fingered robot hand
control system: position-force hybrid control
