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本文对由Movemaster-EX机器人和HUST-FS6腕力传感器组成的力控制系统进行了分析,讨论了接触物体和腕力传感器刚度、力反馈矩阵、库仑摩擦以及间隙非线性对整个力控制系统稳定性的影响;引入力的微分反馈有助于增强力控系统的稳定性,用单关节机器人模型进行了仿真研究.结果表明,接触物体综合刚度、力反馈矩阵、库仑摩擦和间隙非线性对力控系统影响很大;引入力微分反馈能改善系统性能.
In this paper, the force control system composed of Movemaster-EX robot and HUST-FS6 wrist force sensor is analyzed. The effects of contact object and wrist force sensor stiffness, force feedback matrix, coulomb friction and gap nonlinearity on the stability of the whole force control system are discussed The differential feedback of input force is helpful to enhance the stability of force control system, and the simulation of single-joint robot model is carried out. The results show that the influence of contact stiffness, force feedback matrix, coulomb friction and gap nonlinearity on force control system Large; differential feedback can improve system performance.