力控方案中抑制机械手冲击的策略-机器人.pdfVIP

18 4 Vol. 18, No . 4 机器人　ROBOT 1996 7 July , 1996 路兆梅　孟正大　严学高 ( ( 210096) , . , . , . , , , 1 , , , . , , . ( Khatib Burdic . 1986) [ 1] . , . : ; ; . . ( Xu Paul. 1988) ( An Hollerbach. 1987) [ 2] . , : ; ; ; , , . . Volpe Khosla[ 3] , , , , , . JRB-1 Adept , . , , . , , . , , , . 2 , 1 . 1995- 02- 24 18 4 : 229 1 mA , k1, C1 ; mB, k3, C3 ; k2, C2 ;f d . 1, : 2 f d = mA s + ( C1 + C2) s + (k1 + k2) xA - ( C2s + k3) xB 2 ( 1) 0 = - ( C2s + k2) xA + mBs + ( C2 + C3) s + (k2 + k3) xB A , B . x x f m= k2( xB- xA ) , ( 1) , ( ) = Fm(s) = W s Fd( s) 2 ( mBs + C3s+ k3) k2 2 2 2 mBs + ( C2 + C3) s+ (k2 + k3) ( mA s + C1s+ k1) + ( mBs + C3s+ k3) ( C2s+ k2) ( 2) , , . . , , 4 2 . , , . 3 , , ( 2) . 2 ( ) ( 2) , ( ) . W s C s , W(s) , , , 2 W( s) = 2 p 2 ( 3) p p s + 2s + , p . 2 , . , 230