计算机技术 |
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基于力/位混合控制的工业机器人精密轴孔装配 |
吴炳龙1,2, 曲道奎1, 徐方1 |
1. 中国科学院沈阳自动化研究所, 辽宁 沈阳 110016;
2. 中国科学院大学, 北京 100049 |
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Industrial robot high precision peg-in-hole assembly based on hybrid force/position control |
WU Bing-long1,2, QU Dao-kui1, XU Fang1 |
1. Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
2. University of Chinese Academy of Sciences, Beijing 100049, China |
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[9] 张庭,姜力,刘宏. 仿生假手抓握力控制策略[J]. 机器人,2012,34(2):190-196. ZHANG Ting, JIANG Li, LIU Hong. A grasping force control strategy for anthropomorphic prosthetic hand.[J] Robot, 2012,34(2):190-196.
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[12] 张庆伟,韩利利,徐方,等.基于打磨机器人的力/位混合控制策略研究[J].化工自动化及仪表,2012,39(7):884-886 ZHANG Qing-wei, HAN Li-li, XU Fang.et al. Hybrid force/position control study based on grinding robot[J]. Control and Instruments in Chemical Industry, 2012,39(7):884-886. |
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