摘要
机器人的运动控制是机器人技术的重要内容,电机控制是其中的中心环节,目前已经产生多种控制算法,但直接进行试验检验的工作量会很大。为此,在对机械手实体建模的基础上,进行了六自由度机械手的运动学分析;并结合Matlab进行了电机驱动PID控制的设计和仿真,确定了系统参数;最后,进行了节点运动控制的仿真。仿真结果表明,系统的设计是合理可行的。
The movement control of robot is the important content of robot technology, and motor control is the key component involved. There have been several control algorithms created, but to test them experimentally will involved too much work. Based on the entity modeling of the robot arm, the kinetic analysis of robot arm of 6 DoF is carried in this paper, combine with the application of Matlab, the designing and simulation of the motor drive are also conducted, and the parameters of controlling system are decided. The simulation result indicates the feasibility of the design.
出处
《农机化研究》
北大核心
2008年第6期18-20,共3页
Journal of Agricultural Mechanization Research
基金
"十一五"国家科技支撑计划重大项目(2006BAD09B04)
