基于Matlab机械臂力控系统仿真研究.pdfVIP

网络出版时间：2012-09-28 11:25 网络出版地址：/kcms/detail/11.2127.TP1125.010.html Computer Engineering and Applications Matlab 1 1,2 1 1 QIN Haiqiang1 1,2 1 ,XIONG Qingyu ,SHI Xin ,WANG Kai 1. School of AutomationChongqing UniversityChongqing400044China 2. School of Software EngineeringChongqing UniversityChongqing400044China QIN Haiqiang, XIONG Qingyu, SHI Xin, WANG Kai. Simulation research of force control system for manipulator based on Matlab. Computer Engineering and Applications Abstract: The position control of manipulator cant meet the application requirements of some complex tasks(assembly, polishing, deburring).The control of contact force between manipulator and environment is by far one of the topics of most active and continuing interest in the field of Robotics. A simulation method on force control system for 2-R planar manipulator based on Matlab/SimMechanics was proposed in this paper. By simulating the contact surface of manipulator with environment in the plane, designing the suppression controller, realized the control of the contact force when manipulator interacting with environment, and the oscillation suppression in the phase of impact oscillation when manipulator interacting with rigid environment, generated the expected motion trajectory of manipulator. The simulation results showed that the method in this paper can realize the control of contact force between manipulator and environment under a specific type of job. Keywords: manipulator; force control; contact force; simulation