中文摘要：

分析了基于力反馈的夹持器系统的各个子系统,建立了包括位/力转换子系统、检测子系统、电机及驱动子系统、控制子系统在内的各子系统数学模型.进而得到了带饱和非线性环节的整个闭环系统的分段状态空间模型.利用系统实际响应,通过最小二乘法和遗传算法得到了该非线性模型的参数.对实际系统、基于2阶线性简化模型的仿真系统与基于本文所提出模型的仿真系统的响应进行比较,证实了所提出模型及其参数整定方法的有效性.

英文摘要：

Subsystems of force feedback gripper system are analyzed.The mathematical models of the position/force conversion,detection,motor-drive and control subsystems are established.Furthermore,the piecewise state-space model of whole feedback system with saturation nonlinearity is proposed.Using the actual response of the system,the parameters of this nonlinear model are obtained via the least squares method and the genetic algorithm.The response results of the simulation system based on the proposed model,the simulation system based on the second order linear simplified model and the actual system,are compared.The effectiveness of the model and the tuning method of its parameters are confirmed.