摘要
针对桥梁检测车机械臂视频监控系统不能全角度监控的问题,设计了一款以动画模拟机械臂动作的安全监控系统.以三关节8自由度桥梁检测车机械臂为研究对象,建立空间运动数学模型,利用关节空间定位信息,将轨迹转化为状态,并将机械臂的力矩与门限比较,处理器把信息反馈给图形处理模块和报警系统,从而使系统达到实时、准确、智能化.经实验测试证明,该系统稳定、可靠.
As video monitoring systems could not show the whole view of bridge-detection vehicles,a safety monitoring system was designed by simulating the movement of manipulators.After taking a three-link type 8-degree freedom manipulator as the research object and building mathematical models of space motion,trajectories were transformed into states using the information of space coordination for joints.The compared information between the moment and threshold was sent backed to the graphic processor and alarm syst...
出处
《中国计量学院学报》
2010年第4期289-292,共4页
Journal of China Jiliang University
基金
国家质检总局科技计划项目(No.2009QK027)
浙江省科技计划优先主题重点工业项目(No.2010C11024)
关键词
桥梁检测车
串口通信
空间定位
bridge-detection vehicle
serial communication
space coordination
