论文标题
针对具有非集中环境和执行力的机器人的力和国家反馈控制
Force and state-feedback control for robots with non-collocated environmental and actuator forces
论文作者
论文摘要
在本文中，我们为多变量线性和非线性机器人系统提供了阻抗控制设计。控制设计考虑了力和状态反馈，以提高闭环的性能。力量和状态的同时反馈使控制器具有额外的自由度，以近似所需的阻抗端口行为。数值分析用于证明所需的阻抗闭环行为。
In this paper, we present an impedance control design for multi-variable linear and nonlinear robotic systems. The control design considers force and state feedback to improve the performance of the closed loop. Simultaneous feedback of forces and states allows the controller for an extra degree of freedom to approximate the desired impedance port behaviour. A numerical analysis is used to demonstrate the desired impedance closed-loop behaviour.
