中文摘要：

工业机器人的运动分为自由运动和受力约束运动两种不同的运动类型;受力约束运动不仅要进行精确的位置控制,而且要对接触力进行精确控制;文章对机械臂的末端力控制系统进行了研究;采用了高精度电动滑台作为力控制系统的执行机构,在电动滑台末端增加了柔性单元,从而克服了系统柔性不足的缺点,并且依据Lyapunov稳定性理论确定系统的二阶参数,使用Narendra提出的稳定自适应设计方法构建了电动滑台的数学模型;对机械臂末端柔顺系统的系统设计及算法进行了研究,消除了外界噪声对系统的干扰,解决了力控制的基本控制策略问题,优化了力控制时系统的响应特性.

英文摘要：

The industrial robot motion can be divided into two different motion types of free motion and force-constrained motion.Not only the position of the force-constrained motion is controlled accurately,but also the contact force is controlled accurately.The paper studies the control system of end force of mechanical arm.High-precision electric sliding table is adopted as the actuator of the control system,and the flexible unit is added at the end of the electric sliding table,so that the drawback of system flexibility deficiency is overcome.The second order parameter of the system is determined based on the Lyapunov stability theory,and the stable adaptive design method proposed by Narendra is used to build the mathematical model of electric sliding table.The paper studies the design and algorithm of the soft system of the mechanical arm end.The influence of outside noise on the system is eliminated,the basic control strategy problem of force control is solved,and the response characteristics of the system is optimized when the system is controlled by force.