一篇关于机器人柔性控制方面的好文章

seedahai

Abstract—A great many control schemes for a robot manipulator
interacting with the environment have been developed
in the literature in the past two decades. This paper is aimed
at presenting a survey of robot interaction control schemes
for a manipulator, the end effector of which comes in contact
with a compliant surface. A salient feature of the work is the
implementation of the schemes on an industrial robot with open
control architecture equipped with a wrist force sensor. Two
classes of control strategies are considered, namely, those based
on static model-based compensation and those based on dynamic
model-based compensation. The former provide a good steadystate
behavior, while the latter enhance the behavior during the
transient. The performance of the various schemes is compared
in the light of disturbance rejection, and a thorough analysis is
developed by means of a number of case studies.
Index Terms—Force control, force sensor, impedance control,
robots, stiffness control.
本人正在从事这方面的研究，觉的这篇文章有不错，有一定的指导意义，特别是对于刚刚涉足这方面的人。
如有人想要请留下email，或者联系本人 QQ58980633

seedahai

这是一篇英文文章，有点大，压缩后还不能以附件上传，所以有点麻烦。

燕杰

如果谁想要的话，就在这里跟帖，留下E_mail，但要麻烦楼主挨个的发了！
或者放到simwe的FTP上面去
http://www.simwe.com/forum/post/page?bid=96&sty=1&age=0&s=62

seedahai

to:llinder
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笑看风云

我也要，mr_chenji@sina.com.cn

zhaolj

to seedahai
   给偶一份吧zzzings@163.com
  多谢

seedahai

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seedahai

to:zhaolj
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fgp1

xieixie

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seedahai

to：fgp1
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zhshangying

zhshangying@163.com
QQ:  345253662
谢谢!

seedahai

to：zhshangying
文章已发出，请注意查收。

sword_gz1

多谢！
swordyuan@126.com

sword_gz1

多谢！
swordyuan@126.com

seedahai

to:sword_gz1 &boby_young   文章已发出，请注意查收

笑看风云

我也要,mr_chenji@126.com

zhangjinping

谢谢!!
hit_xdg@163.com