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机器人的力控制技术研究及应用进展
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Abstract:
力控制目的是使机器人在工作过程中具有柔顺性。作为机器人运动控制的关键环节，力控制技术研究在机器人领域占有重要的地位。本文系统的总结了机器人力控制领域提出的经典理论和研究成果，首先，针对四种典型力控制方法的基本原理、特点以及国内外研究进展进行了归纳和总结；其次，介绍了力控制技术在工业、航空航天、医疗等领域应用的典型案例；最后，对力控制技术在机器人控制领域中的发展方向进行了展望。
The purpose of force control is to make the robot have the compliance in the working process. As the key link of robot motion control, force control technology plays an important role in the field of robot. This paper systematically summarizes the classical theories and research achievements in the field of robot force control. Firstly, the basic principles, characteristics and research progress of the four typical force control methods are summarized; secondly, typical cases of application of force control technology in industry, aerospace, medical and other fields are introduced; finally, the development direction of force control technology in the field of robot control is prospected.
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