基于广义逆矩阵的机器人力与位置混合控制

Lagrangian dynamic equations of a robot with kinematic constraints are derived t in which generalized constraint forces are included. The generalized constraint forces are then expressed as an explicit function of the state variables and genera1ized input forces, from which force information is therefore obtained. Accordingly , the simultaneous control of force and position of the robot can be achieved without any force sensors to be used. The dynamic redundancy (i. e. the number of generalized input forces is greater than that of generalized constraint forces.) is used to design the hybrid force and position controller based on the pseudo-inverse matrix. The results from the controlling simulation indicate that this controlling method is of high precision and good stability.