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

摘要： 以位置控制为主的机械臂控制方法已不能满足某些复杂环境（装配、抛光、去毛刺）的应用要求，控制机械臂与环境间的接触力已成为机器人学研究的一个热点。提出一种在Matlab/SimMechanics环境下平面二自由度机械臂力控制的仿真研究方法。在平面中模拟机械臂与环境的接触面，设计振荡抑制控制器，实现机械臂与环境间接触力的控制，以及机械臂与刚性环境碰撞接触过程中冲击振荡阶段的振荡抑制，生成机械臂期望的运动轨迹。仿真结果表明，该方法可实现特定作业下机械臂与环境间接触力的控制。

关键词: 机械臂, 力控制, 接触力, 仿真