【摘要】 针对机器人主动柔顺控制在工程中如何实现的问题 ,开发了一种开放式机器人控制器。此控制器采用“PC+PMAC”的控制结构 ,利用伺服驱动器的两种不同的控制模式 ,提出了一种实用的力 /位混合控制方案 ,给出了相应的硬件和软件的具体实现。实验表明 ,文章提出的力 /位混合控制方法具有良好的稳定性和力控制精度更多还原

【Abstract】 Aimed at the problem of realizing active compliance control in the project. This paper exploits an open architecture robot controller, which is based on an open architecture control configuration of “PC+PMAC". Using two different control models of the servo drivers, it brings up a project of force and position control. Meanwhile, it gives concrete realization of hardware and software. The experiment results show that a good control stability and accuracy of force have been attained by this way.更多还原