机器人操作空间加速度信号应用研究

机器人力控制存在着动力学不稳定性问题，即系统响应速度和稳定性之间的矛盾。在操作空间一级引人加速度正反馈，既能使系统的响应频带变宽，又能提高系统阻尼。这种方法能有效地提高机器人对高刚度环境的适应性，使力控制的动力学不稳定性问题得到明显地缓和；另外本文研究了用加速度积分信号代替位置差分速度信号来消除差分噪声，提高力控制精度方法的应用前景。

Research on the Use of Acceleration Signal for Task Space of Robot Manipulator

The dynamic instability problem exists in, the force control of robot manipulator, which is the contradiction between response speed and stability' For the sampling control system, the accelerations positive feedback in taskspace can broaden the system frequency band and raise the system damping. This approach can enhance the robotmanipulator's ability to adapt itself to the stiff environment and relax the dynamec instability problem in force controlobviously. In addition, this article discusses the prospective application in using the integration of the filtered integral signal of the accelerator and the encodes' signal to replace the velocity coming form the position defference to remove thedifference noise and improve the precision in force control of robot manipulator.