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微操作力提升系统控制策略实验研究

DOI: 10.3969/j.issn.1006-7043.2009.12.012

Keywords: 微操作力 提升系统 末端操作器 控制策略 micro-operation force hoisting system end-effector control strategy

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Abstract:

为了改进微操作力提升系统的性能,设计了一种新型的末端操作器,分析了末端操作器的工作原理,提出了适应操作者操作特性的速度和位移增量2种控制策略,并基于dSPACE实验平台对微操作力提升系统进行了实验研究.实验结果表明:速度控制策略和位移增量控制策略均可行,操作者施加较小的操作力,提升系统就能顺应人的操作升降负载,能够满足操作者提升操作的柔顺行要求.

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