【摘要】 采用力/速度控制方法,完成了掰手机器人在与人实际掰手腕过程中的拟人化控制任务.根据物体接触后能产生力的特性,分析确立外力和由这些外力所引起的变位量之间的关系,利用质量-弹簧-粘性系统参考模型建立了力与速度的动态关系表达式,在整个过程中,根据所测得的力信息及速度信息实时调整伺服电机的旋转方向及旋转速度,系统有较强的自适应性.并且,测试者可通过选择适合于自身情况的测试等级,使比赛更富有意义.测试结果显示了方法的有效性.更多还原

【Abstract】 This paper presents a control strategy of force/velocity controlled arm wrestling robot by analyzing the changes in interaction force between human hand and the robotic arm wrestiling system.According to characteristics of interaction force,the relationship between the outside force and the changes caused by the outside force is analyzed.Then,a dynamic function about the relationship between force and velocity is established based on the mass-spring-viscidity system model.In the arm wrestling competition,the system can adjust the rotating direction and speed of servo motor by using the obtained force and velocity information,which shows the good adaptability of the system.The feasibility of the control strategy is demonstrated by experimental results.更多还原