摘要
采用二自由度平面机器人结构作为涂胶机的基本结构,对二自由度平面机器人结构进行了研究,介绍了二自由度平面机器人运动的正向和反向求解。研究了直线和圆弧轨迹的插补算法,开发了适合二自由度关节型机器人的轨迹插补器。
In this paper,the fundamental structure of sealing machine is 2D planar robot construction.The author studied it and discussed the rule of the robot's forward and backward movement.Interpolation algorithm about the beeline and circle track has been presented.Interpolation used in robot manipulators has been developed.
出处
《水利电力机械》
2005年第2期34-36,38,共4页
Water Conservancy & Electric Power Machinery
