文章基本信息

标题：Hybrid Force and Position Control Strategy of Robonaut Performing Object Transfer Task
本地全文：下载
作者：Gang Chen ; Yu-Qi Wang ; Qing-Xuan Jia 等
期刊名称：MATEC Web of Conferences
电子版ISSN：2261-236X
出版年度：2018
卷号：160
DOI：10.1051/matecconf/201816005003
语种：English
出版社：EDP Sciences
摘要：This paper proposes a coordinated hybrid force/position control strategy of robonaut performing object transfer operation. Firstly, the constraint relationships between robonaut and object are presented. Base on them, the unified dynamic model of the robonaut and object is established to design the hybrid force/position control method. The movement, the internal force and the external constraint force of the object are considered as the control targets of the control system. Finally, a MATLAB simulation of the robonaut performing object transfer task verifies the correctness and effectiveness of the proposed method. The results show that all the targets can be control accurately by using the method proposed in this paper. The presented control method can control both internal and external forces while maintaining control accuracy, which is a common control strategy.