%0 Journal Article
%T Force control of uncertain robot based on the passivity<br>基于无源性的不确定机器人的力控制
%A Wen Shu-Huan
%A Yuan Jun-Ying
%A <br>温淑焕
%A 袁俊英
%J 物理学报
%D 2010
%I 
%X According to the theory of passivity, the force control on the robot system is studied from a relatively new perspective. In general, a strictly passive dynamic system has a good dynamic characteristics and robustness. Therefore, a passive approach to force control is presented in the force controller design. In view of the uncertainty and environmental impacts in robot modeling, the paper adds a compensation term to compensate for model uncertainty in force control loop. The simulation results show that this control program enhances the dynamic performance and robustness of the system.
%K robot
%K force control
%K passivity
%K robustness<br>机器人，
%K 力控制，
%K 无源性，
%K 鲁棒性
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=6E709DC38FA1D09A4B578DD0906875B5B44D4D294832BB8E&cid=47EA7CFDDEBB28E0&jid=29DF2CB55EF687E7EFA80DFD4B978260&aid=EA849D0CA290329FB863C0EE2CCFEB7B&yid=140ECF96957D60B2&vid=6AC2A205FBB0EF23&iid=38B194292C032A66&sid=633354CC2908E635&eid=266729317CF80522&journal_id=1000-3290&journal_name=物理学报&referenced_num=0&reference_num=16