| 柔性机械臂辅助大负载空间舱段对接的阻抗控制研究 |
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| 引用本文： | 王春蕾. 柔性机械臂辅助大负载空间舱段对接的阻抗控制研究[J]. 湖南农机, 2016, 0(8): 47-48. DOI: 10.3969/j.issn.1007-8320.2016.08.028 |
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| 作者姓名： | 王春蕾 |
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| 作者单位： | 河源理工学校,广东 河源,517000 |
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| 摘 要： | 介绍了柔性机械臂辅助大负载空间舱段对接阻抗的几种方式，即：力控制、位置控制、力位混合控制、顺应控制以及阻抗控制，在此基础上，具体阐述了柔性机械臂辅助大负载空间舱段对接的阻抗控制及所产生的价值，期望能够为空间舱升级优化工作提供一定的参考与指导。
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| 关 键 词： | 柔性机械臂 大负载空间舱段 对接 阻抗控制 |
Research on Impedance Control of Flexible mechanical arm Auxiliary to big load Compartment Space Docking |
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| Abstract: | The article simply introduces several ways of impedance control of the flexible mechanical arm auxiliary to big load compartment space docking,namely,the force control,position control and hybrid force control,compliance control and impedance control.It also elaborates the impedance control of the flexible mechanical arm auxiliary to big load compartment space docking and its value,expecting to provide certain reference for the optimization work of the space cabin upgrade. |
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| Keywords: | flexible mechanical arm the big load compartment space docking impedance control |
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