关键词: 机械臂, 力控制, 接触力, 仿真

Abstract: The position control of manipulator can’t meet the application requirements of some complex tasks（assembly, polishing, deburring）. The control of contact force between manipulator and environment is by far one of the topics of most active and continuing interest in the field of Robotics. A simulation method on force control system for 2-R planar manipulator based on Matlab/SimMechanics is proposed. By simulating the contact surface of manipulator with environment in the plane, this paper designs the suppression controller, realizes the control of the contact force when manipulator interacts with environment, and the oscillation suppression in the phase of impact oscillation when manipulator interacts with rigid environment, generates the expected motion trajectory of manipulator. The simulation results show that the method can realize the control of contact force between manipulator and environment under a specific type of job.

Key words: manipulator, force control, contact force, simulation