摘要
提出一种实用的机械臂位置逆解在线计算方法,对冗余及非冗余串联型机械臂问题均有效。它的建立过程规范且简单,很容易用于机械臂的嵌入式控制器实现。以此为基础,我们又开发了基于ARM7处理器的机械臂模型HN-8以检验这个方法。文中列出部分实验数据及对比结果,对基于这种方法进行机械臂控制实验具有指导意义。
This paper formulates generalized method for solving manipulator inverse displacement problem, which is applicable to hyper-redundant and non-redundant series manipulator. This method is normalized and suitable for developing manipulator＇s embedded control system. We have developed an ARM7 MCU embedded system to control a model manipulator, named HN-8, for testing this method. The experimental findings and results are reported in this paper, which are useful for manipulator control experiments based on this method.
出处
《机械科学与技术》
CSCD
北大核心
2005年第9期1066-1068,1099,共4页
Mechanical Science and Technology for Aerospace Engineering
基金
国家863项目(2003AA421020)资助
关键词
机械臂
机器人
嵌入式系统
冗余
Manipulator
Robot
Embedded system
Redundancy
