摘要
在介绍伺服控制机器人关节型机械手的组成及其空间位姿变换矩阵的基础上,针对具有关节轴平行特性的机械手提出一种空间位姿控制的改进算法,以改进机械手空间位姿控制算法的计算效率。仿真实验表明,系统动态响应的性能指标明显改善,从而提高了机械手空间位姿控制的实时性。
Based on the joint axis parallel characteristics of robotic arm, an improved algorithm of the control of spatial position for improving its calculation efficiency was put forward while introducing the composition of servo-control robot joint robotic arm and the spatial position transformation matrix. The simulation experiment shows that the performance of system dynamic response is distinctly improved, the real-time manipulator spatial position control is enhanced.
出处
《机床与液压》
北大核心
2007年第7期198-200,共3页
Machine Tool & Hydraulics
关键词
空间位姿算法
关节型机械手
伺服控制机器人
Spacial position algorithm
Rotary joint manipulator
Servo-controlled robots
