【摘要】 对机器人执行跟踪控制任务提出了一种新方案．当机器人的运动受到环境约束时用这一控制可执行一族跟踪任务，因为采用了相对速度表示的约束模型，力控制与约束运动控制能自动分解．具体给出了两种力控制律．此外，对于复杂的控制任务建立了递阶的控制结构．更多还原

【Abstract】 A new approach to tracking tasks by robots in the presence of environmental constraints is proposed. Since the dynamic equations of a rigid object are written in a component form with respect to axes fixecd with the object, a new nodel of constraints is given in a very simple form as linear func tions of velocity components. As a result, the system of notion and equations of motion of the object is automatically decomposed into two subsystms:equations of motion and equations of reactive for the force. Two force feedbavk schemes are developed. A hierarchical architecture is established for the overall control strategy such that the robot can track a set of different objects for different desired motions.更多还原