论文部分内容阅读
反恐防暴机器人进入楼宇中有状况房间的开门操作问题属于运动受限机器人的力控制问题,而传统的力觉控制方法在原理上都存在一些缺陷,如力/位混合控制的力控制器和位置控制器不能同时起作用,阻抗控制的力控制和位置控制间存在干涉,最终都会影响到开门操作的应用效果.因此从完整系统的角度出发,将开门操作这个运动受限问题转化为完整系统约束反力的控制问题,并给出一种能同时跟踪参考位置和参考约束反力的控制律,最后以“灵蜥”反恐防暴机器人为试验平台,通过与阻抗控制的比较说明该控制方法的优点.
Anti-terrorism riot robots into the building have the condition of the room to open the door to operate the problem belongs to the limited movement of the robot force control problems, and the traditional sense of control methods have some flaws in principle, such as force / bit hybrid control force controller and location The controller can not work at the same time, there is interference between force control and position control in the impedance control, which will eventually affect the application effect of the door opening operation.Therefore, from the perspective of a complete system, the problem of limited movement of the door opening operation is transformed into a complete system constraint And gives a control law that can track the reference position and the reference restraining reaction at the same time. Finally, this control method is compared with that of the impedance control by using the test system of the “lizard” anti-terrorism riot robot. The advantages.