摘要
人机协调运动控制方式是指实现与人动作相协调的机器人动作控制方式。在日常生活中,人与人合作搬运是比较常见的,但是人的机械强度有限,无法完成超过极限的负载搬运。因此,为了充分发挥人与机器人的优势,提出人机合作助力方式,延伸到外骨骼系统,它们有一个共同的特点就是人与机器人在运动过程中一直处于接触状态。人机协调运动控制方法主要包括负荷分配控制、阻抗控制、直接力控制、智能控制等。
Man-machine coordinated motion control is a kind of robot motion control mode which is coordinated with human motion.In daily life,It is common of people to cooperate with others,but human mechanical strength is limited,unable to complete load handling beyond their limits,so in order to achieve full advantages of human and robot,the method of man-machine cooperation is proposed,applied to the exoskeleton system,these man-machine cooperation systems have a common characteristic is that people and robots is in contact in the process of movement.The man-machine coordinated motion control method mainly includes load distribution control,impedance control,direct force control,intelligent control,etc.
作者
岳海波
Yue Haibo(Zhengzhou Institute of Mechanical and Electrical Engineering,Zhengzhou Henan 450015)
出处
《河南科技》
2017年第13期42-44,共3页
Henan Science and Technology
关键词
机器人
人机协调
运动控制
robot
man-machine coordinated
motion control
