| 操作器混合控制稳定和鲁棒性分析(英文) |
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| 引用本文： | 徐红兵. 操作器混合控制稳定和鲁棒性分析(英文)[J]. 电子科技大学学报(社会科学版), 1993, 0(5) |
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| 作者姓名： | 徐红兵 |
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| 作者单位： | 电子科技大学自动化系 成都610054 |
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| 摘 要： | 从力位耦合的角度,分析了机器人操作器工作空间动态参数和期望的暂态响应对混合力位控制方案中力位增益选择的影响。结果保证了控制稳定和鲁棒性,并指出了其物理意义。
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| 关 键 词： | 稳定性 鲁棒性 操作器 混合力位控制 |
STABILITY & PERFORMANCE ROBUSTNESS ANALYSIS OF HYBRID CONTROL FOR ROBOT MANIPULATORS |
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| Xu Hongbin. STABILITY & PERFORMANCE ROBUSTNESS ANALYSIS OF HYBRID CONTROL FOR ROBOT MANIPULATORS[J]. Journal of University of Electronic Science and Technology of China(Social Sciences Edition), 1993, 0(5) |
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| Authors: | Xu Hongbin |
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| Abstract: | This paper presents the effects of the robot manipulator dynamic parameters in the work space and the system desired transient response to the selection of position and force gain in hybrid posi- tion/force control scheme especially from the coupling point of view.The results show not only the con- trol stability and robustness but also the physical interpretation. |
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| Keywords: | stability robustness manipulator hybrid position/force control |
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