介绍气动机械手夹持力控制系统的工作原理,建立气动机械手夹持力控制系统的数学模型；针对目前机械手夹持力控制的各种不确定性因素,设计了H∞混合灵敏度控制器,并对其控制效果进行仿真分析.结果证明:控制器能够满足设计需要,并具有灵活的扩展性.%The working principle of clamping force control-system of a pneumatic manipulator was introduced. Its mathematical model was established. Because there were a variety of uncertain factors on control system of pneumatic manipulator clamping force, a H, mixed sensitivity controller was designed and a simulation for its control effect was made. The results indicate that the controller can meet the requirements and has flexible scalability.
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