針對(duì)未知環(huán)境下機(jī)器人主動(dòng)柔順控制在工程中實(shí)現(xiàn)的問題，構(gòu)造了一個(gè)開放式機(jī)器人力控制系統(tǒng)。對(duì)系統(tǒng)中硬件和軟件體系結(jié)構(gòu)進(jìn)行了分析，結(jié)合伺服驅(qū)動(dòng)器的不同控制模式，給出了一種實(shí)用的力控制硬件實(shí)現(xiàn)形式。實(shí)驗(yàn)結(jié)果表明，該系統(tǒng)能夠滿足高精度力控制操作的性能要求。
關(guān)鍵詞：未知環(huán)境；機(jī)器人；力控制；開放式系統(tǒng)；
Abstract: In order to deal with force-controlled execution of active compliance control in an unknown environment, an open architecture platform of robot force control is set up. The architecture in hardware and software of force control system is discussed. According to the different modes of servo-driver, a concrete realization form of hardware for robotic force control is introduced. The force-tracking experiment results show that the system could satisfy the demand of accurate force control.
Keywords: robot; force control; open architecture system; unknown environment