摘要
解耦型球关节是一种在空间上具有垂直相交的三个自由度且能实现运动解耦的新型机器人关节,它将直流伺服驱动技术和液压伺服驱动技术相结合,具有较大的输出力矩和较高的控制精度。根据该关节的特点,在对目前国内外各类机器人控制技术分析基础上,从硬件、软件两个层面上探讨了解耦型球关节控制系统原理与方法。
The decoupling spheric joint is a new kind of robot joint which has three vertically intersecting dimensions and can realize movement decoupling. It integrates direct current servo technique and hydraulic servo technique , then it can export larger momnet and has higher control precision. Based on the characteristics of this joint and the analyses of various kinds of robot control techniques in domestic and foreign countries, the theory and methods of the control system of the decoupling spheric joint was discussed in terms of both hardware and software.
出处
《电气自动化》
北大核心
2007年第3期40-43,共4页
Electrical Automation
基金
江苏省自然科学基金(BK2005051)
关键词
解耦型球关节
工控机
运动控制器
串口通讯
直流伺服电机驱动控制网
decoupling spheric joint IPC motion controller serial port communication direct current servo electromotor-driven control network
