摘要
本文介绍了机器人的运动规划和控制系统。根据J函数理论和图形软件,系统可生成控制指令。通过IBM-AT和机器人控制柜的通讯,可实现无碰撞运动的规划。利用超声波传感器,系统能初步实现障碍物的躲避。
A system for motion planning and control of robots is introduced in this paper. Based on J function theory and graphic software, the system can generate control instructions. Real-time collision-free motion planning can be realized. The movement of a robot can be controlled by program file from the IBM-AT to the robot controller. The control of the robot is based on I/O signals between the IBM-AT and robot controller. By the use of Ultrasonic sensors, the system can carry out obstacle avoidance.
