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force controller
    Investigation of Design Projects on Computer System of Robot Force Controller
    关于机器人力控制器计算机系统的设计方案探讨
    Robustness Design of Force Controller for a Robot and Its Applications to Assembly Tasks
    机器人力控制器的鲁棒性设计及其在装配作业中的应用
    Simultanously, an approximate continous control law was adopted to solve the chattering problem on the prerequisite for assuring trajectory accuracy. Experiments were conducted to show that the force controller designed with the method was robust to the changes of the contact stiffness.
    实验表明,利用所提出的方法设计的机器人力控制器对接触刚度的变化具有很好的鲁棒性。
    To solve the problem, a robot force controller was designed using the theory of variable structure centrol. An algorithm of rotating sliding surfaces was suggested to increase the convergence speed of the system state and ensure robustness of the system during the con-vergence course.
    为了解决这个问题,本文根据变结构控制理论设计了一个机器人力控制器,并提出了一种旋转滑动平面的自适应算法,以加快系统状态的收敛速度和保证收敛过程的鲁棒性。
    The experiment results of the robotic assembly shown that the robot force controller designed in this paper was robust to the variations of the contact stiffness.
    装配实验结果表明,利用本文的方法所设计的机器人力控制器对接触刚度的变化具有很好的鲁棒性。
    A scheme of robot force controller based on external ring is adopted in this paper.
    采用了基于力外环的机器人力控制器的方案。
 

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