农业机械学报2012，Vol.43Issue(7)：190-193,211,5.DOI:10.6041/j.issn.1000-1298.2012.07.035
液压力觉双向伺服系统的策略切换控制
Strategy-switching Control for Hydraulic Force Bilateral Servo System when Catching Objects
摘要
Abstract
The research object is a force bilateral servo system in which the master side is a hydraulic manipulator and the slave side is a hydraulic cylinder actuated robot. Facing the concussion problem occurred when the slave hand contact rigidity object, a strategy-switching algorithm was proposed. A four-channel slave driving strategy was used to the flexible load and a three-channel strategy without slave force was used to the rigidity load. The switch was judged by the ratio of slave force and velocity. It is proved by the experiments that the strategy is valid and the concussion problem of the former strategy when catching rigidity object could be avoided.关键词
主从控制/电液伺服控制/刚性负载/力反馈Key words
Master-slave control/ Hydraulic servo control/ Rigidity load/ Force feedback分类
机械制造引用本文复制引用
侯敬巍,赵丁选,巩明德,栗英杰,倪涛..液压力觉双向伺服系统的策略切换控制[J].农业机械学报,2012,43(7):190-193,211,5.基金项目
国家自然科学基金资助项目(50475011)、吉林省科技发展计划重点资助项目(20090335)和吉林省科技发展计划资助项目(201101027) （50475011）
