| 摘要 |
The invention relates to a device and method for performing open-loop and closed-loop control of a robot manipulator which is driven by a number M of actuators ACTm and has an end effector. The invention comprises a first unit (101) which registers and/or makes available an external force winder formula (I) acting on the end effector, a regulator (102) which is connected to the first unit (101) and to the actuators ACTm and which comprises a first regulator R1, which is a force regulator, and a second regulator R2 which is connected thereto and which is an impedance regulator, an admittance regulator, a position regulator or a cruise controller, wherein the regulator (102) determines manipulated variables um(t) with which the actuators ACTm can be actuated in such way that when contact occurs with the surface of an object, the end effector acts on said object with a predefined force winder formula (II); where um(t) = um , R 1(t) + um ,R2(t), wherein the first regulator R1 is embodied and configured in such a way that the manipulated variable um,R1(t) is determined as a product of a manipulated variable um,R1(t)* and a function S(v(t)) or as a function S*(v(t), um,R1(t)*) , where um,R1(t) = S(v(t)) um,R1(t)* oder um,R1(t) = S*(v*(t), um,R1(t)*); Formula (III) |
