Synthesis methods and experiment validation of compliant force controller based inner position loop

被引：0

作者：

Zhang, Shangying ^{[1
]}

Zhao, Hui ^{[2
]}

Han, Junwei ^{[3
]}

机构：

[1] Huazhong Univ Sci & Technol, State Key Lab Digital Mfg Equipment & Technol, Wuhan 430074, Peoples R China

[2] Wuhan Univ Sci & Technol, Sch Mech Automat, Wuhan 430081, Peoples R China

[3] Harbin Inst Technol, Sch Mech & Elect Engn, Harbin 150001, Peoples R China

来源：

2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5 | 2007年

关键词：

compliant; force control; PID; robust;

D O I：

10.1109/ROBIO.2007.4522253

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Compliant force control in space docking is studied. Compliant force control strategy is developed based on the inner loop position control of 6-dof parallel robot in order to simulate push and pull process of forcible alignment in space docking. Compliant force control structure based on the inner position loop is introduced. The more systematic design methods of a serial PID type controller and a robust controller are presented in detail. Simulation and experiment results indicate efficiency of the designed force controllers and superiority of robust force controller.

引用

页码：728 / 733

页数：6

共 10 条

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